Robot scheduling method and device and storage medium

Abstract

The invention provides a robot scheduling method and device and a storage medium, and the method comprises the steps: determining that a target robot and other robots are in a target elevator region, and triggering the scheduling; wherein the target robot and the other robots comprise at least one elevator exiting robot and at least one robot planned to take an elevator; determining a scheduling strategy of the target robot according to the terrain information of the target elevator area and the operation information of each robot for triggering scheduling; and controlling the target robot to move according to the scheduling strategy. By means of the scheme, the situation that in the prior art, when the robot goes out of the elevator but other robots exist near the elevator, the robot is stuck can be effectively solved, and therefore normal execution of robot tasks can be guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to a scheduling method, device, and storage medium for a robot. Background Art

[0002] With the large-scale application of service robots in scenarios such as hotels, hospitals, office buildings, factories, etc., there may be multiple types of multiple robots working together in the same scenario. For example, in a factory, cleaning robots may be used for cleaning and delivery robots may be used for material delivery. Therefore, multi-robot collaboration and resource scheduling have become one of the core challenges in intelligent management.

[0003] Among them, in scenarios such as factories or hotels, there are often multiple floors of working areas. When the tasks performed by robots need to cross floors, the robots need to take the elevator to transfer to the target floor. This makes it easy to get stuck when a robot exits the elevator and there are other robots near the elevator, resulting in the inability to execute tasks normally. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a scheduling method, device, and storage medium for a robot, which can effectively solve the problem of getting stuck when a robot exits the elevator but there are other robots near the elevator in the prior art, thereby ensuring the normal execution of robot tasks.

[0005] The embodiment of the present application provides a scheduling method for a robot. The scheduling method includes:

[0006] Determine that the target robot and other robots are in the target elevator area and trigger scheduling; wherein, among the target robot and the other robots, there are at least one robot exiting the elevator and at least one robot planning to take the elevator;

[0007] Determine the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling;

[0008] Control the target robot to move according to the scheduling strategy.

[0009] Optionally, the following steps are used to determine that the target robot and other robots are in the target elevator area and trigger scheduling:

[0010] When the target robot arrives at the target elevator area, determine whether there are other robots in the target elevator area;

[0011] If there are, perform trajectory simulation according to the running information of the target robot and the running information of the other robots, and in combination with the terrain information of the target elevator area;

[0012] When there is an intersection in the collaborative working trajectory obtained by simulation, scheduling is triggered;

[0013] When there is no intersection in the collaborative working trajectory obtained by simulation, scheduling is not triggered.

[0014] Optionally, the target robot is an out-of-ladder robot, and the other robots include at least two robots. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling includes:

[0015] If the terrain information is a wide passage and not a dead-end road, the scheduling strategy of the target robot is: avoid along the non-elevator side; after the first boarding robot among the other robots successfully enters the elevator, complete the scheduling with the other robots that have not entered the elevator according to the passing-by-the-side rule; or leave the target elevator area from the non-elevator side;

[0016] If the terrain information is a narrow passage and not a dead-end road, the scheduling strategy of the target robot is: avoid along the non-elevator side; after the first boarding robot among the other robots successfully enters the elevator, schedule with the other robots that have not entered the elevator, and the out-of-ladder robot leaves from the non-elevator side, or leaves from the elevator side after other robots that have not entered the elevator enter the elevator.

[0017] Optionally, the target robot is a non-out-of-ladder robot and not the first boarding robot. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling, and controlling the target robot to move according to the scheduling strategy includes:

[0018] Determine that the out-of-ladder robot and the first boarding robot have completed scheduling. The target robot and the remaining robots determine the scheduling priority according to the robot type to generate a scheduling strategy, and control the target robot to move according to the scheduling strategy.

[0019] Optionally, the target robot is an out-of-ladder robot. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling includes:

[0020] If the terrain information is a wide passage and a dead-end road, or the terrain information is a narrow passage and a dead-end road without a fork, or the terrain information is a narrow passage and a dead-end road with a fork, the scheduling strategy of the target robot is: normal out-of-ladder.

[0021] Optionally, the target robot is the first boarding robot. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling includes:

[0022] If the terrain information is a narrow passage and a dead end with no fork, or the terrain information is a narrow passage and a dead end with a fork, the scheduling strategy of the target robot is: retreat from the narrow passage for avoidance; after the conflict with the elevator-out robot is resolved, move towards the waiting point.

[0023] If the terrain information is a wide passage and not a dead end, the scheduling strategy of the target robot is: after the elevator-out robot reaches the avoidance point or leaves the target elevator area, move from the waiting point into the target elevator;

[0024] If the terrain information is a wide passage and a dead end, the scheduling strategy of the target robot is: avoid by staying on the side, and after the elevator-out robot has completed exiting the elevator and there is no path conflict with the target robot, move towards the waiting point;

[0025] If the terrain information is a narrow passage and not a dead end, the scheduling strategy of the target robot is: move into the target elevator after the elevator-out robot reaches the avoidance point.

[0026] Optionally, the target robot is a robot that plans to take the elevator inside the narrow passage but is not the first elevator-taking robot. The scheduling strategy of the target robot is determined according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling, including:

[0027] If the terrain information is a narrow passage and a dead end with no fork, or the terrain information is a narrow passage and a dead end with a fork, the scheduling strategy of the target robot is: retreat from the narrow passage for avoidance, and after the first elevator-taking robot successfully enters the elevator, move towards the waiting point.

[0028] Optionally, the target robot is a robot that does not enter the narrow passage and is not a planned elevator-taking robot. The scheduling strategy of the target robot is determined according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling, including:

[0029] If the terrain information is a narrow passage and a dead end with a fork, the scheduling strategy of the target robot is: continue to execute the task.

[0030] The embodiment of the present application also provides a scheduling device for a robot. The scheduling device includes:

[0031] A trigger module, configured to determine a target robot and other robots in the target elevator area and trigger scheduling; among the target robot and the other robots, there are at least one elevator-out robot and at least one planned elevator-taking robot;

[0032] A strategy determination module, configured to determine the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling;

[0033] A control module, configured to control the target robot to move according to the scheduling strategy.

[0034] An embodiment of the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the scheduling method as described above are executed.

[0035] An embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the scheduling method as described above are executed.

[0036] A scheduling method, device, and storage medium for a robot provided by an embodiment of the present application. The scheduling method includes: determining a target robot and other robots in a target elevator area and triggering scheduling; where at least one robot getting out of the elevator and at least one robot planning to take the elevator are included in the target robot and the other robots; determining a scheduling strategy for the target robot according to the terrain information of the target elevator area and the running information of each robot triggering the scheduling; controlling the target robot to move according to the scheduling strategy.

[0037] In this way, the present application anticipates possible path conflicts of robots in advance for the presence states of the robots getting out of the elevator and the robots planning to take the elevator in the target elevator area, and then in order to avoid conflicts, triggers robot scheduling in a timely manner; and when scheduling the robots, in order to accurately determine the scheduling strategy of each target robot, it is determined based on the terrain information of the current target elevator area and the running information of each robot triggering the scheduling, so as to obtain a scheduling strategy suitable for the current environment; finally, the target robot is controlled to move according to the determined scheduling strategy, so as to effectively avoid the state where multiple robots are stuck near the elevator, and further ensure the normal driving or normal task execution of each robot.

[0038] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 Flow chart of a scheduling method for a robot provided by an embodiment of the present application;

[0041] Figure 2 One of the topographic schematic diagrams of a target elevator area provided by the present application;

[0042] Figure 3 Another topographic schematic diagram of a target elevator area provided by the present application;

[0043] Figure 4 Another topographic schematic diagram of a target elevator area provided by the present application;

[0044] Figure 5 Another topographic schematic diagram of a target elevator area provided by the present application;

[0045] Figure 6 Another topographic schematic diagram of a target elevator area provided by the present application;

[0046] Figure 7 Another topographic schematic diagram of a target elevator area provided by the present application;

[0047] Figure 8 Another topographic schematic diagram of a target elevator area provided by the present application;

[0048] Figure 9 Another topographic schematic diagram of a target elevator area provided by the present application;

[0049] Figure 10 Structural schematic diagram of a scheduling device for a robot provided by an embodiment of the present application;

[0050] Figure 11 Structural schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present application provided herein is not intended to limit the scope of the present application that is claimed, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by those skilled in the art without creative efforts belongs to the scope of protection of the present application.

[0052] First, the applicable application scenarios of the present application are introduced. The present application can be applied to the field of robots. Specifically, it can be applied to cleaning robots, delivery robots, etc.

[0053] Through research, it is found that with the large-scale application of service robots in scenarios such as hotels, hospitals, office buildings, and factories, there may be multiple types of multiple robots working collaboratively in the same scenario. For example, in a factory, cleaning robots may be used for cleaning and delivery robots may be used for material delivery. Therefore, multi-robot collaboration and resource scheduling have become one of the core challenges in intelligent management.

[0054] Among them, in factory or hotel scenarios, there are often multiple floors of working areas. When the tasks performed by robots need to cross floors, the robots need to take the elevator to transfer to the target floor. When multiple robots may take the same elevator successively, for example, after robot A takes the elevator to floor X and gets out of the elevator, robot B takes the elevator on floor X to floor Y. This makes it easy to get stuck (that is, multiple robots cannot plan a feasible path near the elevator and fall into a deadlock) when a robot gets out of the elevator and there are other robots nearby, especially when the elevator is located in a narrow passage or other scenarios, resulting in the inability to execute tasks normally.

[0055] For example, when a robot waiting to take the elevator at the narrow passage queuing point encounters a robot getting out of the elevator, the robot waiting to take the elevator can exit the passage to avoid it. However, if a third robot intervenes and also has a need to take the elevator, in order to avoid getting stuck, it can also retreat outside the passage together. After the conflict ends, the third robot may give priority to resuming the task and enter the narrow passage queuing point, resulting in the third robot blocking the route of the robot waiting to take the elevator and ultimately leading to getting stuck.

[0056] Based on this, the embodiments of the present application provide a scheduling method, device, and storage medium for robots to effectively avoid the situation of multiple robots getting stuck near the elevator.

[0057] Please refer to Figure 1 , Figure 1 which is a flowchart of a scheduling method for robots provided by the embodiments of the present application. This scheduling method can be executed by a robot. As Figure 1 shown in

[0058] S101. Determine the target robot and other robots in the target elevator area and trigger scheduling.

[0059] Here, the target robot and the other robots include at least one robot for exiting the elevator and at least one robot for taking the elevator. The at least one robot for taking the elevator may be a robot that has arrived at the elevator waiting point and is waiting for the elevator. The robot has the highest elevator use right priority. The target robot may be the current robot, that is, the robot that executes the scheduling method.

[0060] In order to describe this solution more clearly, the robot with the highest elevator use right priority is called the first elevator robot. For example, in order to ensure that robots take the elevator in an orderly manner, avoid congestion, and balance the user's elevator experience, the elevator use right of the robot can only be occupied by one robot. Alternatively, the robot that arrives at the elevator waiting point has the highest elevator use right priority.

[0061] S102: Determine a scheduling strategy for the target robot according to the terrain information of the target elevator area and the operation information of each robot that triggers scheduling.

[0062] Here, the scheduling strategy may include a strategy for determining how the robot avoids, and / or determining how the robot recovers, and / or determining whether the robot continues to perform the task, and / or determining how the robot operates.

[0063] S103: Control the target robot to move according to the scheduling strategy.

[0064] Here, controlling the target robot to run according to the scheduling strategy may include: avoidance movement, waiting in place, continuing to drive along the planned route, etc.

[0065] The present application implements a robot scheduling method provided as described. First, the status of the robots in the target elevator area is monitored in real time. When it is determined that there is at least one robot for exiting the elevator and at least one robot that plans to take the elevator, it is considered that there may be a conflict in the running trajectories, thereby triggering scheduling. Then, when determining the specific scheduling strategy, it is determined based on the terrain information of the current target elevator area and the running information of each robot that triggers the scheduling, and a scheduling strategy suitable for the current running state is obtained; the target robot is controlled to act according to the determined scheduling strategy. Exemplarily, a short-range wireless communication module is provided on the robot, which can monitor the information of robots within a certain distance in real time. When the distance is less than a preset distance, it can be determined to trigger scheduling. For example, after the robot for exiting the elevator reaches the target floor, the robots and their status in the target elevator area can be obtained according to the short-range wireless communication module.

[0066] In this way, for the present application, in view of the presence status of the robot exiting the elevator and the robot planning to take the elevator in the target elevator area, it can predict in advance the possible path conflicts of the robots, and then in order to avoid conflicts, trigger robot scheduling; and when scheduling the robots, in order to accurately determine the scheduling strategy of the target robot, it is determined based on the terrain information of the current target elevator area and the running information of each robot that triggers the scheduling, so as to obtain a scheduling strategy suitable for the current environment; finally, control the movement of the target robot according to the determined scheduling strategy, so as to effectively avoid the state of multiple robots being stuck near the elevator, and then ensure the normal driving or normal task execution of each robot.

[0067] The following describes each step of the exemplary embodiment of the present application:

[0068] Regarding step S101, this step includes: in the case where there is a robot exiting the elevator, determine the presence of other robots near the elevator area (target elevator area) when the robot exits the elevator. When the states of all robots in the target elevator area meet the preset trigger mechanism, trigger scheduling.

[0069] Here, the preset trigger mechanism can be set to trigger scheduling when there is at least one robot exiting the elevator and at least one robot planning to take the elevator in the target elevator area. The setting of the preset trigger mechanism is determined according to whether there will be robot movement conflict situations in the elevator area.

[0070] For example, in the scenario where existing robots execute tasks, when a robot exits the elevator, if there is a robot planning to take the elevator at the elevator exit (specifically, there is a robot that has reached the elevator boarding point and is waiting to take the elevator, that is, the first elevator boarding robot), there is generally an easy movement conflict (for example, in a narrow passage dead-end terrain, there will definitely be a jam). Therefore, in order to improve the determination speed of movement conflict scenarios, the trigger mechanism can be set to trigger scheduling when there is at least one robot exiting the elevator and at least one robot planning to take the elevator in the target elevator area. Of course, the preset trigger mechanism can also be further refined according to the relevant information of the robots in the target elevator area.

[0071] In step S101, the target robot can be any robot in the target elevator area. All robots in the target elevator area can communicate with each other over a short distance and obtain each other's relevant information, such as trajectory information and task information, etc.

[0072] The target robot and the other robots can be of the same type (such as both being delivery robots), or can be of multiple types (for example, including both delivery robots and cleaning robots, etc.). When the target robot and the other robots are of multiple types, when generating the scheduling strategy, it can also be determined with reference to the types of the robots.

[0073] In step S101, when there is at least one out - elevator robot and at least one robot planning to take the elevator in the target elevator area and triggering scheduling, it can be that when the out - elevator robot has reached the target elevator area and there is at least one robot planning to take the elevator in the target elevator area, scheduling is triggered; or when the out - elevator robot is expected to reach the target elevator area and there is at least one robot planning to take the elevator in the target elevator area, scheduling is triggered. Among them, the second trigger is an early trigger, so that a certain amount of time can be reserved to determine the scheduling strategy, thereby reducing the requirements for the computing power of the processor in the robot.

[0074] Furthermore, in order to determine the accuracy of the scheduling trigger, in an implementation provided in the present application, the following steps are used to determine the trigger of scheduling for the target robot and other robots in the target elevator area:

[0075] S1011. When the target robot reaches the target elevator area, determine whether there are other robots in the target elevator area.

[0076] S1012. If there are, according to the running information of the target robot and the running information of the other robots, and combined with the terrain information of the target elevator area, perform trajectory simulation.

[0077] S1013. When there are intersections in the simulated collaborative working trajectory, trigger scheduling.

[0078] S1014. When there are no intersections in the simulated collaborative working trajectory, do not trigger scheduling.

[0079] In step S1011, when the target robot reaches the target elevator area and determines whether there are other robots in the target elevator area, it can specifically include the following scenarios:

[0080] Scenario 1: The target robot is an out - elevator robot. When the out - elevator robot reaches the target elevator area, determine whether there is a first elevator - taking robot in the target elevator area.

[0081] Scenario 2: The target robot is an out - elevator robot. When the out - elevator robot reaches the target elevator area, determine whether there is a first elevator - taking robot and at least one other robot in the target elevator area; the other robots can be robots planning to take the elevator or robots not taking the elevator but executing other plans.

[0082] Scenario 3: The target robot is a first elevator - taking robot. When the first elevator - taking robot reaches the target elevator area, determine whether there is an out - elevator and elevator - taking robot in the target elevator area.

[0083] Scenario 4: The target robot is the first elevator-riding robot. When the first elevator-riding robot arrives at the target elevator area, determine whether there is an elevator-exiting robot and at least one other robot in the target elevator area; the other robots can be robots planning to take the elevator or robots not taking the elevator but executing other plans.

[0084] Scenario 5: The target robot is neither an elevator-exiting robot nor the first elevator-riding robot. When the target robot arrives at the target elevator area, determine whether there is an elevator-exiting robot, a first elevator-riding robot, and other robots in the target elevator area; the target robot and the other robots can be robots planning to take the elevator or robots not taking the elevator but executing other plans.

[0085] Scenario 6: The target robot is neither an elevator-exiting robot nor the first elevator-riding robot. When the target robot arrives at the target elevator area, determine whether there is an elevator-exiting robot and a first elevator-riding robot in the target elevator area.

[0086] In step S1012, when any of the above scenarios exists, obtain the running information of the target robot and the running information of other robots, and perform trajectory simulation processing based on the running information of all robots to obtain a collaborative working trajectory.

[0087] If there is an intersection in the collaborative working trajectory, it is considered that there is a path conflict, and then step S1013 is executed; if there is no intersection in the collaborative working trajectory, it is considered that there is no path conflict, and then step S1014 is executed.

[0088] In this way, in this embodiment, by combining the running information of all robots in the target elevator area and performing trajectory simulation processing, it is possible to accurately predict the situation of multi-robot running conflicts, so that the scheduling process is only started when there is a running conflict, avoiding mis-scheduling and ineffective scheduling, and thus ensuring the normal execution of the tasks of the robots.

[0089] Regarding step S102, in this step, when it is determined that the running status of multiple robots in the target elevator area needs to be scheduled, obtain the terrain information of the target elevator area and the running information of each robot that triggers the scheduling, and perform combined analysis on the terrain information and multiple running information to determine the scheduling strategy of the target robot that meets the current terrain conditions.

[0090] The terrain information of the target elevator area can be determined according to the static map information.

[0091] To further understand the specific scheduling strategies of robots in different scenarios, this application provides eight scheduling methods for target robots. Here, to enable those skilled in the art and related personnel to more intuitively understand the terrain in this application, the terrain terms involved in this application are introduced.

[0092] (1) Wide passage

[0093] A road that can accommodate at least two robots passing in parallel.

[0094] (2) Narrow passage

[0095] A road that can only accommodate a single robot passing in sequence.

[0096] (3) Dead-end road

[0097] For the elevator entrance area, a dead-end road can refer to a road where there is no space for robots to stay and pass on one side of the exit when the robot exits the elevator.

[0098] (4) Non-dead-end road

[0099] For the elevator entrance area, a non-dead-end road can refer to a road where at least on both sides of the exit there is space for robots to stay or pass when the robot exits the elevator.

[0100] (5) Forked road

[0101] A forked road refers to a place where a road branches off, that is, a place where one road divides into two or more roads.

[0102] Furthermore, through the following scenarios, an exemplary illustration of the robot scheduling strategy is provided.

[0103] Scenario 1:

[0104] Please refer to Figure 2 , Figure 2 which is one of the terrain schematic diagrams of a target elevator area provided by this application. As shown in Figure 2 , if the terrain information of the target elevator area is a wide passage and a non-dead-end road, the target elevator area includes three robots, namely robot A (the robot exiting the elevator), robot B (the robot that has reached the waiting point and has the highest elevator usage priority, called the first elevator-riding robot), and robot C (which can be a robot planning to take the elevator with a priority lower than that of robot B; or a robot that does not take the elevator but needs to perform other tasks through the wide passage).

[0105] In this scenario, if the target robot is robot A (elevator exiting robot), the scheduling strategy of the target robot is: avoid by the side on the non-elevator side; after the first elevator robot (robot B) among the other robots (robot B and robot C) successfully enters the elevator, complete the scheduling with the other robots (robot C) that have not entered the elevator according to the rule of passing by the side; or, if the target point of robot A can be reached by traveling to the non-elevator side, adjust the path planning and leave the target elevator area from the non-elevator side.

[0106] If the target robot is the first elevator robot (robot B), the scheduling strategy of the target robot is: after the elevator robot (robot A) reaches the avoidance point or leaves the target elevator area, it moves from the elevator waiting point to the target elevator. It should be noted that robot C can also plan to take the elevator, but the recovery priority of robot B is higher than that of robot C.

[0107] If the target robot is robot C (not an elevator exit robot, nor the first elevator robot), the scheduling strategy of the target robot is: after the first elevator robot successfully enters the elevator (robot B), move to the elevator waiting point or move according to the planned route. Here, if robot C is a robot that plans to take the elevator, it will move to the elevator waiting point after the first elevator robot successfully enters the elevator (robot B); if robot C is a robot that performs other tasks, it will move according to the planned route after the first elevator robot successfully enters the elevator (robot B). If robot C also plans to take the elevator, when robot B is at the elevator waiting point, robot C can dock at the elevator queuing point; when robot B leaves the elevator waiting point more than a preset distance, robot C goes to the elevator waiting point to reduce congestion and collisions.

[0108] Furthermore, if there are multiple robots C, when any robot C is the target robot, the scheduling strategy of the target robot is determined based on the terrain information of the target elevator area and the operation information of each robot that triggers the scheduling, including: determining that the elevator exit robot and the first elevator riding robot complete the scheduling, the target robot and the remaining robots determine the scheduling priority based on the machine model to generate a scheduling strategy, and controlling the target robot to move according to the scheduling strategy.

[0109] Here, the mapping relationship between machine model and recovery priority can be preset, or the machine model with the lowest recovery priority can be specified, for example, setting the factory inspection robot to have the lowest recovery priority. The specific setting can be adaptively set and will not be elaborated here.

[0110] Exemplarily, assume that there are two robots C (robot C1 and robot C2 in sequence) behind robot B. If the recovery priority of robot C2 is determined to be higher than that of robot C1 according to the robot model, even if robot C2 is behind robot C1, after the out-of-elevator robot and the first in-elevator robot complete the scheduling, robot C2 will be preferentially controlled to move (take the elevator or perform other tasks).

[0111] In this way, by determining the priority according to the robot model, it can be ensured that robots with time limit requirements (delivery robots) resume tasks first, thus ensuring the normal execution of tasks.

[0112] In this way, in the scenario where the target elevator area is a wide passage and not a dead end, by setting an out-of-elevator robot to avoid, and the remaining robots continue to execute tasks after the out-of-elevator robot releases the elevator usage permission, it can not only effectively avoid the occurrence of the situation where multiple robots are stuck in this kind of road condition, but also shorten the avoidance time, thus ensuring faster task recovery and making the robot task completion efficiency higher.

[0113] Scenario 2:

[0114] Please refer to Figure 3 , Figure 3 which is the second topographic schematic diagram of a target elevator area provided by this application. As Figure 3 shown, if the topographic information of the target elevator area is a wide passage and a dead end, there are three robots in the target elevator area, namely robot A (out-of-elevator robot), robot B (which has reached the waiting point and has the highest elevator usage priority, called the first in-elevator robot), and robot C (robot planning to take the elevator, with a priority lower than that of robot B).

[0115] In this scenario, if the target robot is robot A (out-of-elevator robot), the scheduling strategy of the target robot is: normal out-of-elevator.

[0116] If the target robot is the first in-elevator robot (robot B), the scheduling strategy of the target robot is: move to the side to avoid (leave the waiting point), and move to the waiting point to resume the elevator-taking task after the out-of-elevator robot has completed getting out of the elevator and there is no path conflict with the target robot, or the distance exceeds a preset threshold. Exemplarily, the waiting point and the point for moving to the side to avoid are different points, and the point for moving to the side to avoid is closer to the road edge.

[0117] If the target robot is robot C (robot planning to take the elevator), the scheduling strategy of the target robot is: move to the waiting point after the first in-elevator robot has successfully entered the elevator. Therefore, robot C has a lower elevator usage permission than robot B, so robot C takes the elevator after robot B.

[0118] In this way, in the scenario where the target elevator area is a wide passage and a dead end, by setting the remaining robots other than the elevator exit robot to avoid, the elevator exit robot can smoothly exit the elevator and execute tasks. And after determining that the conflict is resolved, the elevator riding task of robot B is resumed immediately, thus ensuring the normal progress of the elevator riding task, giving priority to the execution of the elevator riding task after the elevator exit robot exits the elevator, reducing the number of robots in the elevator area, and reducing congestion. Therefore, the scheduling strategy in this scenario can not only effectively avoid the occurrence of the situation where multiple robots are stuck in this kind of road condition, but also shorten the avoidance time, so as to ensure a faster task resumption and higher efficiency in completing the robot tasks.

[0119] Scenario Three:

[0120] Please refer to Figure 4 , Figure 4 which is the third topographic schematic diagram of a target elevator area provided by this application. As Figure 4 shown, if the terrain information of the target elevator area is a narrow passage and not a dead end, the target elevator area includes three robots, namely robot A (elevator exit robot), robot B (which has reached the waiting point and has the highest elevator usage priority, called the first elevator riding robot), and robot C (which can be a robot planned to take the elevator, with a lower priority than robot B; or a robot that does not take the elevator but needs to execute other tasks through the narrow passage).

[0121] In this scenario, if the target robot is robot A (elevator exit robot), the scheduling strategy of the target robot is: avoid along the side on the non-elevator entrance side; after the first elevator riding robot among the other robots successfully enters the elevator, schedule with the other robots that have not entered the elevator, and the elevator exit robot leaves from the non-elevator side, or leaves from the elevator entrance side after the other robots that have not entered the elevator enter the elevator.

[0122] If the target robot is the first elevator riding robot (robot B), the scheduling strategy of the target robot is: move into the target elevator after the elevator exit robot (robot A) reaches the avoidance point.

[0123] If the target robot is robot C (neither an elevator exit robot nor the first elevator riding robot), the scheduling strategy of the target robot is: move to the waiting point or move according to the planned route after the first elevator riding robot (robot B) successfully enters the elevator. Here, if robot C is a robot planned to take the elevator, it moves to the waiting point after the first elevator riding robot (robot B) successfully enters the elevator; if robot C is a robot executing other tasks, it moves according to the planned route after the first elevator riding robot (robot B) successfully enters the elevator.

[0124] In this way, in the scenario where the target elevator area is a narrow passage and not a dead end, by setting up an out-of-elevator robot for avoidance, and the other robots continuing to execute tasks after the out-of-elevator robot releases the elevator usage permission, not only can the situation of multiple robots getting stuck in this kind of road condition be effectively avoided, but also the avoidance time can be shortened, so as to ensure a faster resumption of tasks and make the robot task completion efficiency higher.

[0125] Scenario Four:

[0126] Please refer to Figure 5 , Figure 5 which is the fourth topographic schematic diagram of a target elevator area provided by this application. As Figure 5 shown, if the topographic information of the target elevator area is a narrow passage and a dead end without a fork, there are three robots in the target elevator area, namely robot A (out-of-elevator robot), robot B (which has reached the waiting point and has the highest elevator usage priority, called the first elevator-riding robot), and robot C (a robot planning to take the elevator and has entered the narrow passage, and the elevator usage priority of this robot is lower than that of robot B).

[0127] In this scenario, if the target robot is robot A (out-of-elevator robot), the scheduling strategy of the target robot is: normal out-of-elevator.

[0128] If the target robot is the first elevator-riding robot (robot B), the scheduling strategy of the target robot is: follow the remaining other robots (including robot C) to exit the narrow passage in turn for avoidance; after resolving the conflict with the out-of-elevator robot (robot A) (such as when robot A leaves the narrow passage area), move towards the waiting point to quickly resume the elevator-riding task.

[0129] The target robot is robot C (a robot planning to take the elevator and has entered the narrow passage), and the scheduling strategy of the target robot is: exit the narrow passage for avoidance, and after the first elevator-riding robot (robot B) successfully enters the elevator, move towards the waiting point to resume the elevator-riding task as soon as possible after robot B.

[0130] In this way, in the scenario where the target elevator area is a narrow passage, a dead-end road, and has no fork in the road, by setting the other robots except the elevator exit robot to avoid, the elevator exit robot can smoothly exit the elevator and execute tasks. And after it is determined that the conflict is resolved (such as robot A leaving the narrow passage area), the elevator riding task of robot B is preferentially restored, thus ensuring the normal progress of the elevator riding task. This avoids the situation that if the tasks are restored simultaneously, robot C may enter the narrow passage elevator area first, but the elevator usage right belongs to robot B, resulting in robot C blocking the elevator entry route of robot B again. Therefore, the scheduling strategy in this scenario can not only effectively avoid the occurrence of the situation where multiple robots are blocked in this kind of road condition, but also shorten the avoidance time, thereby ensuring a faster task restoration and making the robot task completion efficiency higher.

[0131] Scenario Five:

[0132] Please refer to Figure 6 , Figure 6 which is the fifth topographic schematic diagram of a target elevator area provided by this application. As Figure 6 shown, if the topographic information of the target elevator area is a narrow passage, a dead-end road, and has no fork in the road, the target elevator area includes three robots, namely robot A (the elevator exit robot), robot B (which has reached the waiting point for the elevator and has the highest elevator usage right priority, called the first elevator riding robot), and robot C (the robot located in the wide passage and planning to take the elevator, and this robot does not affect the avoidance of the first elevator riding robot, and the elevator usage priority of this robot is lower than that of robot B).

[0133] In this scenario, if the target robot is robot A (the elevator exit robot), the scheduling strategy of the target robot is: exit the elevator normally.

[0134] If the target robot is the first elevator riding robot (robot B), the scheduling strategy of the target robot is: exit the narrow passage to avoid; after resolving the conflict with the elevator exit robot (robot A), move towards the waiting point for the elevator; restore the elevator riding task at the first time.

[0135] If the target robot is robot C (the robot located in the wide passage and planning to take the elevator, and this robot does not affect the avoidance of the first elevator riding robot), the scheduling strategy of the target robot is: wait in the wide passage and restore the task after the first elevator riding robot resolves the conflict. Among them, if there is a conflict between robot C and the elevator exit robot, the two robots normally handle the conflict, such as passing by the side.

[0136] In this way, in the scenario where the target elevator area is a narrow passage, a dead-end road without intersections, by setting the first elevator-riding robot to exit the narrow passage for avoidance and robot C to wait in place, the out-of-elevator robot can smoothly exit the elevator and execute tasks. And after determining that the conflict is resolved, the elevator-riding task of robot B is resumed immediately, and the task of robot C is resumed in a timely manner after robot B successfully enters the elevator, thus ensuring the normal progress of the elevator-riding task. Therefore, the scheduling strategy in this scenario can not only effectively avoid the occurrence of the situation where multiple robots are stuck in this kind of road condition, but also shorten the avoidance time, so as to ensure a faster task resumption and higher efficiency in completing the robot tasks.

[0137] Scenario Six:

[0138] Please refer to Figure 7 , Figure 7 which is the sixth topographic schematic diagram of a target elevator area provided by this application. As Figure 7 shown, if the topographic information of the target elevator area is a narrow passage, a dead-end road with intersections, there are three robots in the target elevator area, namely robot A (the out-of-elevator robot), robot B (which has reached the waiting point and has the highest elevator usage priority, called the first elevator-riding robot), and robot C (the robot that plans to take the elevator and enters the narrow-wide passage, and the elevator usage priority of this robot is lower than that of robot B).

[0139] In this scenario, if the target robot is robot A (the out-of-elevator robot), the scheduling strategy of the target robot is: normal elevator exit.

[0140] If the target robot is the first elevator-riding robot (robot B), the scheduling strategy of the target robot is: follow the remaining other robots (such as robot C) to exit the narrow passage and avoid in the wide passage or intersection; after resolving the conflict with the out-of-elevator robot (robot A), move towards the waiting point; resume the elevator-riding task at the first time.

[0141] If the target robot is robot C (the robot that plans to take the elevator and enters the narrow passage), the scheduling strategy of the target robot is: exit the narrow passage for avoidance, and after the first elevator-riding robot (robot B) successfully enters the elevator, move towards the waiting point; execute the elevator-riding task as soon as possible.

[0142] In this way, in the scenario where the target elevator area is a narrow passage, a dead-end road, and there is a fork in the road, by setting the first elevator-riding robot and robot C to exit the narrow passage for avoidance, the out-of-elevator robot can smoothly exit the elevator and execute tasks. And after determining that the conflict is resolved, the elevator-riding task of robot B is restored immediately, and the task of robot C is restored in a timely manner after robot B successfully enters the elevator, thus ensuring the normal progress of the elevator-riding task. Therefore, the scheduling strategy in this scenario can not only effectively avoid the occurrence of the situation where multiple robots are stuck in this kind of road condition, but also shorten the avoidance time, so as to ensure a faster task restoration and higher efficiency in completing the robot tasks.

[0143] Scenario Seven:

[0144] Please refer to Figure 8 , Figure 8 which is the seventh terrain schematic diagram of a target elevator area provided by this application. As Figure 8 shown, if the terrain information of the target elevator area is a narrow passage, a dead-end road, and there is a fork in the road, the target elevator area includes three robots, namely robot A (the out-of-elevator robot), robot B (which has reached the waiting point for the elevator and has the highest elevator usage priority, called the first elevator-riding robot), and robot C (the robot that enters the fork in the road and plans to take the elevator, and the elevator usage priority of this robot is lower than that of robot B).

[0145] In this scenario, if the target robot is robot A (the out-of-elevator robot), the scheduling strategy of the target robot is: normal elevator exit.

[0146] If the target robot is the first elevator-riding robot (robot B), the scheduling strategy of the target robot is: exit the narrow passage for avoidance; after resolving the conflict with the out-of-elevator robot (robot A), move towards the waiting point for the elevator; restore the elevator-riding task at the first time.

[0147] If the target robot is robot C (the robot that enters the fork in the road and plans to take the elevator), the scheduling strategy of the target robot is: wait in place, and after the first elevator-riding robot (robot B) successfully enters the elevator, move towards the waiting point for the elevator; execute the elevator-riding task as soon as possible.

[0148] At this time, if robot C has a conflict with the out-of-elevator robot (robot A), the two robots can handle the conflict normally.

[0149] In this way, in the scenario where the target elevator area is a narrow passage, a dead-end road, and there is a fork in the road, by setting the first elevator-riding robot to exit the narrow passage for avoidance and setting the other robots (Robot C) to wait in place for avoidance, the robot exiting the elevator can smoothly exit the elevator and execute the task. And after determining that the conflict is resolved, the elevator-riding task of Robot B is restored at the first time, and after Robot B successfully enters the elevator, the task of Robot C is restored in a timely manner, thus ensuring the normal progress of the elevator-riding task. Therefore, the scheduling strategy in this scenario can not only effectively avoid the occurrence of the situation where multiple robots are stuck in this kind of road condition, but also shorten the avoidance time, so as to ensure a faster restoration of the task, making the robot task completion efficiency higher.

[0150] Scenario Eight:

[0151] Please refer to Figure 9 , Figure 9 which is the eighth terrain schematic diagram of a target elevator area provided by this application. As Figure 9 shown, if the terrain information of the target elevator area is a narrow passage, a dead-end road, and there is a fork in the road, the target elevator area includes three robots, namely Robot A (the robot exiting the elevator), Robot B (which has reached the waiting point for the elevator and has the highest elevator use priority, called the first elevator-riding robot), and Robot C (the robot that does not enter the narrow passage and executes other tasks).

[0152] In this scenario, if the target robot is Robot A (the robot exiting the elevator), the scheduling strategy of the target robot is: normal elevator exit.

[0153] If the target robot is the first elevator-riding robot (Robot B), the scheduling strategy of the target robot is: exit the narrow passage for avoidance; after resolving the conflict with the robot exiting the elevator (Robot A), move towards the waiting point for the elevator; restore the elevator-riding task at the first time.

[0154] If the target robot is Robot C (the robot that does not enter the narrow passage and executes other tasks), the scheduling strategy of the target robot is: continue to execute the task.

[0155] In this way, in the scenario where the target elevator area is a narrow passage, a dead-end road, and there is a fork in the road, by setting the first elevator-riding robot to exit the narrow passage for avoidance and setting the other robot (Robot C) to continue to execute the assigned task, the robot exiting the elevator can smoothly exit the elevator and execute the task. And after determining that the conflict is resolved, the elevator-riding task of Robot B is restored at the first time, and the normal execution of the task of Robot C can also be ensured. Therefore, the scheduling strategy in this scenario can not only effectively avoid the occurrence of the situation where multiple robots are stuck in this kind of road condition, but also shorten the avoidance time, so as to ensure a faster restoration of the task, making the robot task completion efficiency higher.

[0156] Regarding step S103, in combination with the above example, the present application can provide corresponding scheduling strategies for each scenario, and for each robot in the target elevator area, it can determine the scheduling strategy suitable for the robot under the terrain conditions. Each robot (which can be regarded as the target robot) operates according to the corresponding scheduling strategy, thereby avoiding jams and ensuring the normal execution of tasks.

[0157] Based on the same inventive concept, an embodiment of the present application also provides a scheduling device corresponding to the scheduling method. Since the principle of the device in the embodiment of the present application for solving problems is similar to the above scheduling method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0158] Please refer to Figure 10 , Figure 10 which is a schematic structural diagram of a scheduling device for a robot provided by an embodiment of the present application. As Figure 10 shown in

[0159] The triggering module 1010 is used to determine the target robot and other robots in the target elevator area and trigger scheduling; wherein, among the target robot and the other robots, there are at least one robot getting out of the elevator and at least one robot planning to take the elevator.

[0160] The policy determination module 1020 is used to determine the scheduling policy of the target robot according to the terrain information of the target elevator area and the running information of each robot triggering the scheduling.

[0161] The control module 1030 is used to control the target robot to move according to the scheduling policy.

[0162] Optionally, the triggering module 1010 is used to determine the target robot and other robots in the target elevator area and trigger scheduling through the following steps:

[0163] When the target robot arrives at the target elevator area, it determines whether there are other robots in the target elevator area;

[0164] If there are, according to the running information of the target robot and the running information of the other robots, and in combination with the terrain information of the target elevator area, a trajectory simulation is performed;

[0165] When there are intersections in the simulated collaborative working trajectory, scheduling is triggered;

[0166] When there are no intersections in the simulated collaborative working trajectory, scheduling is not triggered.

[0167] Optionally, the target robot is an out-of-elevator robot, and the other robots include at least two robots. When the policy determination module 1020 is used to determine the scheduling policy of the target robot according to the terrain information of the target elevator area and the running information of each robot triggered for scheduling, the policy determination module 1020 is used to:

[0168] If the terrain information is a wide passage and not a dead end, the scheduling policy of the target robot is: avoid by the side on the non-elevator-entering side; after the first elevator-riding robot among the other robots successfully enters the elevator, complete the scheduling with the other robots that have not entered the elevator according to the side-passing rule; or leave the target elevator area from the non-elevator-entering side;

[0169] If the terrain information is a narrow passage and not a dead end, the scheduling policy of the target robot is: avoid by the side on the non-elevator-entering side; after the first elevator-riding robot among the other robots successfully enters the elevator, perform scheduling with the other robots that have not entered the elevator. The out-of-elevator robot leaves from the non-elevator side, or leaves from the elevator-entering side after the other robots that have not entered the elevator enter the elevator.

[0170] Optionally, the target robot is a non-out-of-elevator robot and not the first elevator-riding robot. When the policy determination module 1020 is used to determine the scheduling policy of the target robot according to the terrain information of the target elevator area and the running information of each robot triggered for scheduling, the policy determination module 1020 is used to:

[0171] Determine that the out-of-elevator robot and the first elevator-riding robot complete the scheduling, and the target robot and the remaining robots generate a scheduling policy according to the model type to determine the scheduling priority, and control the target robot to move according to the scheduling policy.

[0172] Optionally, the target robot is an out-of-elevator robot. When the policy determination module 1020 is used to determine the scheduling policy of the target robot according to the terrain information of the target elevator area and the running information of each robot triggered for scheduling, the policy determination module 1020 is used to:

[0173] If the terrain information is a wide passage and a dead end, or the terrain information is a narrow passage and a dead end without a fork, or the terrain information is a narrow passage and a dead end with a fork, the scheduling policy of the target robot is: normally exit the elevator.

[0174] Optionally, the target robot is the first elevator-riding robot. When the policy determination module 1020 is used to determine the scheduling policy of the target robot according to the terrain information of the target elevator area and the running information of each robot triggered for scheduling, the policy determination module 1020 is used to:

[0175] If the terrain information is a narrow passage and a dead end without a fork, or the terrain information is a narrow passage and a dead end with a fork, the scheduling strategy of the target robot is: exit the narrow passage for avoidance; after resolving the conflict with the elevator-out robot, move towards the waiting point.

[0176] If the terrain information is a wide passage and not a dead end, the scheduling strategy of the target robot is: after the elevator-out robot reaches the avoidance point or leaves the target elevator area, move from the waiting point into the target elevator;

[0177] If the terrain information is a wide passage and a dead end, the scheduling strategy of the target robot is: avoid by the side and, after the elevator-out robot has completed exiting the elevator and there is no path conflict with the target robot, move towards the waiting point;

[0178] If the terrain information is a narrow passage and not a dead end, the scheduling strategy of the target robot is: move into the target elevator after the elevator-out robot reaches the avoidance point.

[0179] Optionally, the target robot is a robot that plans to take the elevator into the narrow passage but is not the first elevator-taking robot. When the policy determination module 1020 is used to determine the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling, the policy determination module 1020 is used for:

[0180] If the terrain information is a narrow passage and a dead end without a fork, or the terrain information is a narrow passage and a dead end with a fork, the scheduling strategy of the target robot is: exit the narrow passage for avoidance and, after the first elevator-taking robot successfully enters the elevator, move towards the waiting point.

[0181] Optionally, the target robot is a robot that does not enter the narrow passage and is not a planned elevator-taking robot. When the policy determination module 1020 is used to determine the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling, the policy determination module 1020 is used for:

[0182] If the terrain information is a narrow passage and a dead end with a fork, the scheduling strategy of the target robot is: continue to execute the task.

[0183] Please refer to Figure 11 , Figure 11 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 11 shown in, the electronic device 1100 includes a processor 1110, a memory 1120, and a bus 1130.

[0184] The memory 1120 stores machine-readable instructions executable by the processor 1110. When the electronic device 1100 runs, the processor 1110 communicates with the memory 1120 via the bus 1130. When the machine-readable instructions are executed by the processor 1110, the steps in the method embodiment as described above can be executed. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here. Figures 1 to 9 shown in the method embodiment. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here.

[0185] An embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps in the method embodiment as described above can be executed. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here. Figures 1 to 9 shown in the method embodiment. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here.

[0186] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0187] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0188] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0190] When the above-described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0191] Finally, it should be noted that: the above-described embodiments are only specific implementation manners of this application, used to illustrate the technical solutions of this application, rather than limiting them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions described in the foregoing embodiments or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application and should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A scheduling method for a robot, characterized in that, The scheduling method includes: Determine that the target robot and other robots are in the target elevator area and trigger scheduling; among the target robot and the other robots, there is at least one robot getting out of the elevator and at least one robot planning to take the elevator; Determine the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling; Control the target robot to move according to the scheduling strategy.

2. The scheduling method according to claim 1, wherein Determine that the target robot and other robots are in the target elevator area and trigger scheduling through the following steps: When the target robot arrives at the target elevator area, determine whether there are other robots in the target elevator area; If there are, perform trajectory simulation according to the running information of the target robot and the running information of the other robots, and combine with the terrain information of the target elevator area; When there are intersections in the simulated collaborative working trajectory, trigger scheduling; When there are no intersections in the simulated collaborative working trajectory, do not trigger scheduling.

3. The scheduling method according to claim 1, wherein The target robot is a robot getting out of the elevator, and the other robots include at least two robots. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling includes: If the terrain information is a wide passage and not a dead-end road, the scheduling strategy of the target robot is: avoid getting close to the non-elevator side; after the first elevator-taking robot among the other robots successfully enters the elevator, complete scheduling with the other robots that have not entered the elevator according to the rule of passing by the side; or leave the target elevator area from the non-elevator side; If the terrain information is a narrow passage and not a dead-end road, the scheduling strategy of the target robot is: avoid getting close to the non-elevator side; after the first elevator-taking robot among the other robots successfully enters the elevator, perform scheduling with the other robots that have not entered the elevator. The robot getting out of the elevator leaves from the non-elevator side, or leaves from the elevator side after other robots that have not entered the elevator enter the elevator.

4. The scheduling method according to claim 1, wherein The target robot is not a robot getting out of the elevator and is not the first elevator-taking robot. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling and controlling the target robot to move according to the scheduling strategy includes: Determine that the robot getting out of the elevator and the first elevator-taking robot complete scheduling. The target robot and the remaining robots determine the scheduling priority according to the robot types to generate a scheduling strategy, and control the target robot to move according to the scheduling strategy.

5. The scheduling method according to claim 1, wherein The target robot is a robot getting out of the elevator. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling includes: If the terrain information is a wide passage and a dead-end road, or the terrain information is a narrow passage and a dead-end road without a fork, or the terrain information is a narrow passage and a dead-end road with a fork, the scheduling strategy of the target robot is: get out of the elevator normally.

6. The scheduling method according to claim 1, wherein The target robot is the first elevator-taking robot. Determining the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers scheduling includes: If the terrain information is a narrow passage and a dead-end road without intersections, or the terrain information is a narrow passage and a dead-end road with intersections, the scheduling strategy of the target robot is: exit the narrow passage for avoidance; after resolving the conflict with the elevator exiting robot, move towards the waiting point for the elevator; If the terrain information is a wide passage and not a dead-end road, the scheduling strategy of the target robot is: after the elevator exiting robot reaches the avoidance point or leaves the target elevator area, move from the waiting point into the target elevator; If the terrain information is a wide passage and a dead-end road, the scheduling strategy of the target robot is: avoid by staying close to the side, and after the elevator exiting robot has completed exiting the elevator and there is no path conflict with the target robot, move towards the waiting point for the elevator; If the terrain information is a narrow passage and not a dead-end road, the scheduling strategy of the target robot is: move into the target elevator after the elevator exiting robot reaches the avoidance point.

7. The scheduling method according to claim 1, characterized in that, The target robot is a robot that plans to take the elevator inside the narrow passage but is not the first elevator-taking robot. The scheduling strategy of the target robot is determined according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling, including: If the terrain information is a narrow passage and a dead-end road without intersections, or the terrain information is a narrow passage and a dead-end road with intersections, the scheduling strategy of the target robot is: exit the narrow passage for avoidance, and after the first elevator-taking robot has successfully entered the elevator, move towards the waiting point for the elevator.

8. The scheduling method according to claim 1, wherein The target robot is a robot that does not enter the narrow passage and is not a planned elevator-taking robot. The scheduling strategy of the target robot is determined according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling, including: If the terrain information is a narrow passage and a dead-end road with intersections, the scheduling strategy of the target robot is: continue to execute the task.

9. A scheduling device for a robot, characterized in that, The scheduling device includes: A triggering module, used to determine the target robot and other robots in the target elevator area and trigger the scheduling; among the target robot and the other robots, there is at least one elevator exiting robot and at least one planned elevator-taking robot; A strategy determination module, used to determine the scheduling strategy of the target robot according to the terrain information of the target elevator area and the running information of each robot that triggers the scheduling; A control module, used to control the target robot to move according to the scheduling strategy.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the steps of the scheduling method according to any one of claims 1 to 8.

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