Robot homing method and device, scheduling equipment and storage medium

Abstract

The embodiment of the invention provides a robot homing method and device, scheduling equipment and a storage medium, and relates to the technical field of robos.The method comprises the steps that in response to a homing instruction, the homing position corresponding to a robot to be homed indicated by the homing instruction is determined; according to the homing position corresponding to each to-be-homed robot and the current position, generating a homing movement task of the to-be-homed robot; issuing the homing movement task to a corresponding robot to be homed, so that the robot to be homed moves to the homing position; and under the condition that the to-be-homed robot completes homing, a dormancy instruction is issued to a homed robot meeting a preset dormancy condition, so that the homed robot enters a dormancy state. By applying the technical scheme provided by the embodiment of the invention, the homing efficiency of the robot can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot homing method, apparatus, scheduling equipment, and storage medium. Background Art

[0002] With the development of automation and intelligent technologies, more AMR (Autonomous Mobile Robot) and other automated equipment are being applied to business processes across various industries. In warehouses where AMR equipment is used, to improve safety and operational efficiency, AMR equipment is usually centralized and homed before the end of the working day and / or holidays, and shut down and hibernate. This ensures the safety of AMR equipment during non-working hours and that the AMR equipment is in a healthy state of charge when it is working, allowing it to respond to subsequent tasks in a timely manner.

[0003] In related technologies, the AMR homing process is typically manual, with staff manually locating each AMR, dispatching each to a designated area, and then shutting down the AMRs. However, this method of homing AMRs, dispatching each device individually, is inefficient and prone to human error, leading to chaotic device management and further increasing time and labor costs. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a robot homing method, apparatus, scheduling device, and storage medium to improve the robot's homing efficiency. The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a robot homing method, the method comprising:

[0006] In response to a homing instruction, determining a homing position corresponding to the robot to be homing indicated by the homing instruction;

[0007] Generate a homing movement task for each robot to be homed based on the homing position and current position of the robot to be homed;

[0008] issuing the homing movement task to the corresponding robot to be homing, so that the robot to be homing moves to the homing position;

[0009] When the robot to be homing completes homing, a sleep instruction is issued to the homed robot that meets the preset sleep condition, so that the homed robot enters the sleep state.

[0010] Optionally, before the step of determining the homing position corresponding to the robot to be homing indicated by the homing instruction, the method further includes:

[0011] In response to the homing instruction, determining the robots to be homed that belong to the current batch based on the device types of the robots to be homed and the number of robots to be homed corresponding to each device type;

[0012] The steps of determining the homing position corresponding to the robot to be homed indicated by the homing instruction; generating a homing movement task for each robot to be homed based on the homing position and current position corresponding to the robot to be homed; and issuing the homing movement task to the corresponding robot to be homed include:

[0013] Determine the homing positions corresponding to the robots to be homed in the current batch;

[0014] Generate a homing movement task for the robot to be homed according to the homing position and current position corresponding to the robot to be homed in the current batch;

[0015] Send the homing movement tasks of the current batch of robots waiting to be homed to the corresponding robots waiting to be homed;

[0016] After the homed robots of the current batch enter a dormant state, the method further includes:

[0017] Return to executing the step of determining the robots to be homed belonging to the current batch based on the device type of each to-be-homed robot and the number of robots to be homed corresponding to each device type, until the robots that have been homed in the last batch enter the dormant state.

[0018] Optionally, the homing position includes at least one regional position in a set area;

[0019] The step of determining the homing position corresponding to the robot to be homing indicated by the homing instruction includes:

[0020] Based on the device type of the robot to be homing indicated by the homing instruction and the correspondence between the preset device type and the set area, the target area position of the robot to be homing in the corresponding set area is determined as the corresponding homing position of the robot to be homing.

[0021] Optionally, the homing position also includes a temporary location in the scene where the robot to be homing is located;

[0022] The step of determining the homing position corresponding to the robot to be homing indicated by the homing instruction further includes:

[0023] When the number of area locations included in the set area is less than the number of devices, the homing position of the excess robot is determined as a temporary location or the current position of the excess robot, wherein the number of devices is the number of robots of the equipment type corresponding to the set area, and the excess robots are robots that exceed the number of area locations.

[0024] Optionally, before the step of issuing a sleep instruction to the homed robot that meets the preset sleep condition, the method further includes:

[0025] At predetermined detection intervals, detecting whether the robots to be homing in the current batch meet an early termination condition for homing scheduling, wherein the early termination condition for homing scheduling is used to indicate that the robots to be homing have entered the homing position;

[0026] When the homing scheduling early termination condition is met, it is determined that the robots to be homing in the current batch have completed homing.

[0027] Optionally, the step of detecting whether the robots to be homing in the current batch meet the conditions for early termination of homing scheduling includes:

[0028] Traversing the current batch of robots to be homed, and determining whether the currently traversed robot is in a state of waiting for a sleep instruction to be issued if it is determined that the device information of the currently traversed robot matches the specified sleep information, wherein the specified sleep information is used to represent the device information of the robot that needs to sleep;

[0029] When the currently traversed robot is not in a state of waiting for a sleep instruction to be issued, determining that the robots to be homing in the current batch do not meet the homing scheduling early termination condition;

[0030] When the currently traversed robot is in the state of waiting for the sleep instruction to be issued, traverse the next robot;

[0031] Return to executing the step of determining whether the currently traversed robot is in a state of waiting for a sleep instruction to be issued when it is determined that the device information of the currently traversed robot matches the specified sleep information, until all the robots to be traversed in the current batch are traversed and no robots to be traversed that are not in a state of waiting for a sleep instruction to be issued are detected, and determine that the robots to be traversed in the current batch meet the conditions for early termination of homing scheduling.

[0032] Optionally, the designated sleep information includes: a designated area where the homing position corresponding to the homing robot that needs to sleep is located and / or a designated device type of the homing robot that needs to sleep.

[0033] Optionally, before the step of determining, in response to the homing instruction, the homing position corresponding to the robot to be homing indicated by the homing instruction, the method further includes:

[0034] In response to an area drawing operation on a map of a scene where the robot to be homing is located, a map area indicated by the drawing operation is determined as a set area.

[0035] Optionally, the sleep instruction includes wake-up information, wherein the wake-up information is used to instruct the homed robot to enter a task to be executed stage when the sleep time reaches a preset sleep time.

[0036] In a second aspect, an embodiment of the present application provides a robot homing device, the device comprising:

[0037] A first determining module is configured to determine, in response to a homing instruction, a homing position corresponding to the robot to be homing indicated by the homing instruction;

[0038] A generation module is used to generate a homing movement task for each robot to be homed according to the homing position and current position corresponding to the robot to be homed;

[0039] A first issuing module is configured to issue the homing movement task to the corresponding robot to be homing, so that the robot to be homing moves to the homing position;

[0040] The second sending module is used to send a sleep instruction to the homed robot that meets the preset sleep condition when the robot to be homing completes homing, so that the homed robot enters the sleep state.

[0041] Optionally, the device further includes a second determining module, a third issuing module and a triggering module;

[0042] The second determining module is configured to, before determining the homing position corresponding to the homing robot indicated by the homing instruction, determine, in response to the homing instruction, the robots to be homed belonging to the current batch based on the device type of each robot to be homed and the number of robots to be homed corresponding to each device type;

[0043] The third issuing module is configured to determine the homing positions corresponding to the robots to be homed in the current batch; generate a homing movement task for the robots to be homed based on the homing positions corresponding to the robots to be homed in the current batch and their current positions; and issue the homing movement tasks of the robots to be homed in the current batch to the corresponding robots to be homed;

[0044] The triggering module is configured to trigger the second determining module after the current batch of homed robots enter the dormant state, until the last batch of homed robots enter the dormant state.

[0045] Optionally, the homing position includes a regional position in at least one set area; and the first determining module includes:

[0046] The first homing position determination unit is used to determine the target area position of the robot to be homing in the corresponding set area based on the device type of the robot to be homing indicated by the homing instruction and the correspondence between the preset device type and the set area, as the corresponding homing position of the robot to be homing.

[0047] Optionally, the homing position further includes a temporary location of the robot to be homing in the scene; and the first determining module further includes:

[0048] The second homing position determination unit is used to determine the homing position of the excess robot as a temporary position or the current position of the excess robot when the number of area positions included in the set area is less than the number of devices, wherein the number of devices is the number of robots of the equipment type corresponding to the set area, and the excess robots are robots that exceed the number of area positions.

[0049] Optionally, the device further includes:

[0050] a detection module, configured to detect, at a preset detection time interval, whether the robots to be homing in the current batch meet an early termination condition for homing scheduling before issuing a sleep instruction to the robots that have already been homed and meet the preset sleep conditions, wherein the early termination condition for homing scheduling is used to indicate that the robots to be homing have entered the homing position;

[0051] The homing completion determination module is used to determine whether the robots to be homing in the current batch have completed homing when the early termination condition of the homing scheduling is met.

[0052] Optionally, the detection module includes:

[0053] A first traversal unit is configured to traverse the current batch of robots to be homed, and determine whether the currently traversed robot is in a state of waiting for a sleep instruction to be issued if it is determined that the device information of the currently traversed robot matches the specified sleep information, wherein the specified sleep information is used to represent the device information of the robot that needs to sleep;

[0054] A condition determination unit, configured to determine that the robots to be homing in the current batch do not meet the early termination condition for homing scheduling when the currently traversed robots are not in a state of waiting for a sleep instruction to be issued;

[0055] The second traversal unit is used to traverse the next robot when the currently traversed robot is in a state of waiting for a sleep instruction to be issued;

[0056] A triggering unit is used to trigger the first traversal unit until all the robots to be homing in the current batch are traversed and no robots to be homing that are not in a state of waiting for a sleep instruction are detected, thereby determining that the robots to be homing in the current batch meet the early termination condition of the homing scheduling.

[0057] Optionally, the designated sleep information includes: a designated area where the homing position corresponding to the homing robot that needs to sleep is located and / or a designated device type of the homing robot that needs to sleep.

[0058] Optionally, the device further includes:

[0059] The third determination module is used to determine the map area indicated by the drawing operation as the set area in response to the area drawing operation of the map of the scene where the robot to be homed is located before determining the homing position corresponding to the robot to be homed indicated by the homing instruction in response to the homing instruction.

[0060] Optionally, the sleep instruction includes wake-up information, wherein the wake-up information is used to instruct the homed robot to enter a task to be executed stage when the sleep time reaches a preset sleep time.

[0061] In a third aspect, an embodiment of the present application provides a scheduling device, including:

[0062] Memory for storing computer programs;

[0063] The processor is configured to implement any of the methods described in the first aspect above when executing a program stored in the memory.

[0064] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the methods described in the first aspect above.

[0065] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect above.

[0066] Beneficial effects of the embodiments of the present application:

[0067] In the technical solution provided by the embodiments of the present application, a scheduling device, in response to a homing instruction, determines the homing position corresponding to the robot to be homed indicated by the homing instruction. Furthermore, based on the homing position and current position of each robot to be homed, it generates a homing motion task for the robot to be homed. The homing motion task is then issued to the corresponding robot to be homed, and the robot to be homed moves to the homing position according to the homing motion task. Once the robot to be homed completes homing, the scheduling device issues a sleep command to the homed robot that meets the preset sleep conditions, causing the homed robot to enter a sleep state. Upon receiving the homing instruction, the scheduling device schedules the robot to be homed according to the homing instruction and then issues a sleep command to the homed robot. This eliminates the need for personnel to manually schedule each robot to be homed. Upon receiving the homing instruction, the scheduling device automatically schedules the robot to be homed according to the homing motion task and, upon completing homing, controls the homed robot to enter a sleep state. This improves the robot's homing efficiency and enables one-click homing and one-click sleep for the robot. Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0069] Figure 1 A first flow chart of the robot homing method provided in an embodiment of the present application;

[0070] Figure 2 A second flow chart of the robot homing method provided in an embodiment of the present application;

[0071] Figure 3 A third flow chart of the robot homing method provided in an embodiment of the present application;

[0072] Figure 4a-4g A schematic diagram of a warehouse floor plan corresponding to a process of robot homing in seven homing batches using the robot homing method provided in an embodiment of the present application;

[0073] Figure 5 A specific flow chart for detecting whether a robot to be homing meets the conditions for early termination of homing scheduling provided in an embodiment of the present application;

[0074] Figure 6a A fourth flow chart of the robot homing method provided in an embodiment of the present application;

[0075] Figure 6b for Figure 6a A detailed flow chart of the homing process for each homing batch in the illustrated embodiment;

[0076] Figure 6c for Figure 6a A specific flow chart of a method for prematurely ending a batch of homing processes in the illustrated embodiment;

[0077] Figure 7 A schematic plan view of an example of a warehouse where a homing robot is located is provided in an embodiment of the present application.

[0078] Figure 8 A schematic structural diagram of a robot homing device provided in an embodiment of the present application;

[0079] Figure 9 A schematic diagram of the structure of the scheduling device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0081] In order to improve the homing efficiency of robots, embodiments of the present application provide a robot homing method, apparatus, scheduling device, computer-readable storage medium, and computer program product. The following first introduces a robot homing method provided by embodiments of the present application.

[0082] The robot homing method provided in the embodiments of this application can be applied to any scheduling device that requires robot homing scheduling. The scheduling device can be a robot management device, a processor in a robot scheduling system, a server, etc., without specific limitation herein. The robot can also include an autonomous mobile device such as an AMR.

[0083] like Figure 1 As shown, a robot homing method includes the following steps S101-S104.

[0084] S101 , in response to a homing instruction, determining a homing position corresponding to the robot to be homing indicated by the homing instruction.

[0085] S102 : Generate a homing movement task for each robot to be homed according to the homing position and current position corresponding to the robot to be homed.

[0086] S103: Sending a homing movement task to the corresponding robot to be homing, so that the robot to be homing moves to the homing position.

[0087] S104 , when the waiting homing robot completes homing, a sleep instruction is issued to the homed robot that meets the preset sleep condition, so that the homed robot enters a sleep state.

[0088] As can be seen, in the embodiments of the present application, the scheduling device, in response to a homing instruction, determines the homing position corresponding to the robot to be homed indicated by the homing instruction. Furthermore, based on the homing position and current position of each robot to be homed, it generates a homing motion task for that robot to be homed. The homing motion task is then issued to the corresponding robot to be homed, and the robot to be homed moves to the homing position according to the homing motion task. Once the robot to be homed completes homing, the scheduling device issues a sleep command to the homed robot that meets the preset sleep conditions, causing the homed robot to enter a sleep state. Upon receiving the homing instruction, the scheduling device can schedule the robot to be homed according to the homing instruction and then issue a sleep command to cause the homed robot to enter a sleep state. This eliminates the need for personnel to manually schedule each robot to be homed. Upon receiving the homing instruction, the scheduling device can automatically schedule the robot to be homed according to the homing motion task and, upon completing homing, control the homed robot to enter a sleep state. This improves the robot's homing efficiency and enables one-click homing and one-click sleep for the robot.

[0089] In step S101, as an embodiment, the homing instruction can be a manually issued instruction. A staff member triggers the homing instruction by operating the dispatching device. For example, the staff member can click the "One-click Homing" button on the operation interface displayed by the dispatching device to trigger the homing instruction. The dispatching device then receives the homing instruction and executes the subsequent homing process according to the homing instruction, thus achieving one-click homing.

[0090] As another embodiment, the homing instruction may be generated by the scheduling device after a preset homing time has arrived. The scheduling device may store the preset homing time, and upon reaching the preset homing time, the scheduling device generates a homing instruction for the robot to be homing. The preset homing time may be the time when the staff member leaves work or a holiday.

[0091] The homing location may include a homing location defined within the robot's operating environment. For example, the robot's operating environment may be a warehouse, and the homing location may be an area or discrete location defined within the warehouse for the robot to homing. In some embodiments, a charging station may also be provided at the homing location, and the robot may connect to the charging station for charging after homing.

[0092] The scheduling device responds to the homing instruction by parsing the homing instruction and determining the robot to be homed indicated by the homing instruction, and then determining the homing position corresponding to the robot to be homed indicated by the homing instruction. The scheduling device may determine an idle position from pre-stored homing positions, and then determine the homing position corresponding to the robot to be homed from the idle position.

[0093] In step S102, in order to schedule the robots to be homed to move to the corresponding homing positions, the scheduling device generates a homing task for each robot to be homed based on the corresponding homing positions of each robot to be homed and the current position of each robot to be homed. The homing task instructs the corresponding robot to be homed to move from the current position to the homing position.

[0094] The scheduling device can perform path planning based on the homing locations and current locations of each homing robot, plan mutually non-interfering homing paths for each homing robot, and generate homing movement tasks for each homing robot based on the planned homing paths. For example, the scheduling device can use the following path planning algorithms to plan paths for the homing robots: breadth-first algorithm, RRT (Rapidly Exploring Random Tree) algorithm, ant colony algorithm, or dynamic programming algorithm, etc., without specific limitations here.

[0095] Of course, if the robots have path planning capabilities, the dispatching device can also send the homing positions of each homing robot to the corresponding homing robot, allowing the homing robot to perform path planning itself. The homing robot can use the following path planning algorithms for its own path planning: breadth-first algorithm, RRT algorithm, ant colony algorithm, or dynamic programming algorithm, etc., without specific limitations here.

[0096] After generating the homing movement task, the scheduling device issues the homing movement task to the corresponding robot waiting to be homed, executing step S103 above. Upon receiving the homing movement task issued by the scheduling device, the robot waiting to be homed enters the homing phase. The scheduling device no longer assigns other tasks to the robot waiting to be homed, and the robot moves to the corresponding homing position according to the homing movement task.

[0097] When the dispatching device determines that the homing robot has completed homing, it can send a sleep command to the homed robot that meets the preset sleep conditions. The homed robot that meets the preset sleep conditions enters the sleep state according to the received sleep command.

[0098] In one embodiment, the homing robots can complete homing by having all homing robots move to their respective homing locations. In this case, after the homing robots move to their respective homing locations, they can provide feedback to the scheduling device. The scheduling device receives this feedback and determines, based on the feedback, whether all homing robots have moved to their homing locations. If so, the scheduling device can determine that the homing robots have completed homing.

[0099] In another embodiment, the completion of homing of the robot to be homed may also be: the duration of the process of the robot to be homed moving to the homing position reaches the preset maximum allowable duration of the scheduling. The preset maximum allowable duration of the scheduling can be set according to actual conditions. For example, it can be set to 15 minutes, 20 minutes or 25 minutes, etc. In this case, the scheduling device can time the duration of the process of the robot to be homed moving to the homing position. When the timing reaches the preset maximum allowable duration of the scheduling, the scheduling device can determine that the robot to be homed has completed homing, regardless of whether all the robots to be homed have moved to the homing position.

[0100] The preset sleep conditions may include whether the robot is a specified device type, whether the robot's corresponding homing position is within a specified area, etc. The scheduling device may issue a sleep command to the homing robots that meet the preset sleep conditions. The remaining robots that do not meet the preset sleep conditions do not need to enter the sleep state.

[0101] In one embodiment, the sleep instruction may include a wake-up message. This wake-up message instructs a homed robot to enter the task-pending phase when its sleep duration reaches a preset sleep duration. This preset sleep duration is also known as the scheduled shutdown sleep duration, which can be set and adjusted by staff using the scheduling device. This allows dormant robots to automatically wake up and enter normal operating mode after daily work or holidays, eliminating the need for staff to wake them up individually, improving robot scheduling and management efficiency.

[0102] As an implementation method of the present application, Figure 2 As shown, an embodiment of the present application also provides a robot homing method, which may include the following steps S201-S206.

[0103] S201 , in response to a homing instruction, determining a homing batch to which each to-be-homed robot belongs based on the device type of each to-be-homed robot and the number of to-be-homed robots corresponding to each device type.

[0104] In some cases, there may be a large number of robots that need to home. Simultaneous homing can cause chaos on site, robot congestion, and other problems. Therefore, the dispatching device can dispatch the robots to home in batches and in an orderly manner to avoid conflicts and congestion caused by robots during the homing process. The dispatching device can dispatch robots in batches based on the device type of each robot to be homed and the number of robots to be homed corresponding to each device type, thereby determining the homing batch to which each robot to be homed belongs.

[0105] In one embodiment, the scheduling device can determine the homing batch to which each to-be-homed robot belongs based on the following factors: the preset number of robots scheduled in each batch, the priority of the device type of the to-be-homed robot, and the number of to-be-homed robots corresponding to each device type.

[0106] Priority can be determined based on the business function, power requirements, size, and other factors of the robot of that device type, and is not specifically limited here. For example, a higher priority can be assigned to a device type with a larger robot size, while a lower priority can be assigned to a device type with a smaller robot size. The scheduling device will schedule robots of lower-priority device types to return to their homes later in the batch, and the subsequent scheduling device will prioritize robots of higher-priority device types for homing, ensuring that higher-priority robots return to their homes first.

[0107] The scheduling device may first traverse the waiting-to-home robots of the device type with a higher priority, determine the scheduled number of waiting-to-home robots from them, and schedule the waiting-to-home robots determined in the current homing batch to home. In the case that the number of waiting-to-home robots of the traversed device type is less than the scheduled number of the current homing batch, the scheduling device determines the robots belonging to the current homing batch from the waiting-to-home robots corresponding to the next priority in order of priority from high to low, so as to meet the scheduled number of the current homing batch. In the case that the number of waiting-to-home robots of the traversed device type is greater than the scheduled number of the current homing batch, for the excess waiting-to-home robots of the device type, the scheduling device determines these excess waiting-to-home robots as belonging to the next homing batch.

[0108] For example, the preset scheduling quantity is 3; the device types of the robots to be homed include device type 1, device type 2 and device type 3; the priority of device type 1 is greater than the priority of device type 3, and the priority of device type 3 is greater than the priority of device type 2; the robots to be homed of device type 1 include robot 1, robot 2, robot 3 and robot 4, the robots to be homed of device type 2 include robot 5, robot 6 and robot 7, and the robots to be homed of device type 3 include robot 8 and robot 9.

[0109] The scheduling device can first traverse the robots waiting to be homed, belonging to device type 1, which has the highest priority. The number of robots waiting to be homed for device type 1 is 4, which is greater than the preset scheduling quantity of 3. The scheduling device determines that three of the robots waiting to be homed for device type 1 belong to homing batch 1. For example, these robots could be Robot 1, Robot 2, and Robot 3. As for Robot 4, the excess, the scheduling device determines that Robot 4 belongs to the next homing batch, homing batch 2.

[0110] The scheduling device continues to traverse the robots waiting to be homed for device type 3, which has a lower priority than device type 1. The number of robots waiting to be homed for device type 3 is 2, which is less than the scheduled number of 3. However, because the scheduling device has previously determined that robot 4 belongs to homing batch 2 and has already met the scheduled number of homing batch 2, the scheduling device does not determine which robots belong to homing batch 2 from the robots waiting to be homed for device type 2, which has a lower priority than device type 3. Instead, the scheduling device directly determines robots 4, 8, and 9 as belonging to homing batch 2.

[0111] The scheduling device continues to traverse the robots to be homed of device type 2. The number of robots to be homed of device type 2 is 3, which is the same as the scheduled number. The scheduling device can determine robots 5, 6, and 7 as robots belonging to home batch 3.

[0112] The number of robots scheduled for each homing batch can also be different. For example, the number of robots scheduled for homing batch 1 can be 3, the number of robots scheduled for homing batch 2 can be 4, and the number of robots scheduled for homing batch 3 can be 5. The specific number of robots scheduled for homing batch 1 can be set based on actual conditions and is not limited to this. Different device types can also have the same priority. If the device types of robots have the same priority or no priority is set, the scheduling device can randomly select robots from the two device types to schedule homing in the current batch.

[0113] S202 , determining a homing position corresponding to the homing robot indicated by the homing instruction.

[0114] S203 , generating a homing movement task for each robot to be homed according to the homing position and current position corresponding to the robot to be homed, which is the same as the above step S102 .

[0115] S204 : issuing the homing movement tasks of the robots to be homed in the current batch to the corresponding robots to be homed, so that the robots to be homed move to the homing position.

[0116] The scheduling device can determine the current batch from the homing batches that have not yet issued homing movement tasks according to the determined homing batches, and issue the homing movement tasks of the robots to be homed in the current batch to the corresponding robots to be homed, so that the robots to be homed move to the homing position.

[0117] S205 , when the homing robot has completed homing, a sleep instruction is issued to the homed robot that meets the preset sleep condition, so that the homed robot enters the sleep state.

[0118] When the robots to be homed in the current batch have completed their homing, the scheduling device sends a sleep instruction to the robots that have already homed and meet the preset conditions, so that the robots that have already homed in the current batch enter the sleep state.

[0119] In one embodiment, to prevent the robot homing process for a single batch from lasting too long, the scheduling device may also store a preset maximum allowable scheduling duration. When the duration of the batch's homing process reaches the maximum allowable scheduling duration, if any robots still have not yet homed, indicating that the homing task for all robots in the batch waiting to be homed cannot be completed within the specified time, the homing task for these robots will be terminated, and the system will enter the sleep instruction issuance phase, issuing sleep instructions to the robots that have already been homed and meet the preset sleep conditions. The batch homing process refers to the process by which the robots in the batch waiting to be homed move to their homing positions.

[0120] Next, the dispatching device can determine whether the current batch of robots waiting to return to their homes have completed their return and issue a sleep command to the robots that have already returned and meet the preset sleep conditions, putting them into a sleep state. For robots that have not returned to their homes, staff can detect whether they have malfunctioned and take appropriate action.

[0121] S206, after the current batch of homed robots enter the dormant state, the next batch of robots to be homed are used as the current batch of robots to be homed, and the process returns to step S204, i.e., the step of sending the homing movement tasks of the current batch of robots to be homed to the corresponding robots to be homed, until the last batch of homed robots enter the dormant state.

[0122] After the current batch completes scheduling and enters the dormant state, the scheduling device can use the next batch of robots waiting to home as the current batch's homing robots and return to the step of issuing homing movement tasks to schedule the next batch of robots waiting to home. This continues until the last batch of robots in all homing batches enters the dormant state. After the scheduling device completes the homing process for all batches, it resumes normal operation.

[0123] In one embodiment, to prevent the sleep command issuance process for a single batch of robots from lasting too long, personnel can also set a maximum duration for the sleep command issuance process, and the scheduling device can store this maximum duration. The maximum duration for the sleep command issuance can be determined based on the time it takes for the robots to enter the sleep state from the working state, for example, 1 minute, 1.5 minutes, 2 minutes, etc., and is not specifically limited here.

[0124] The sleep command issuance process refers to the process by which the dispatching device continuously issues sleep commands to robots. When this sleep command issuance process reaches the maximum duration, regardless of whether there are robots that have not yet entered the sleep state, the dispatching device determines that the sleep command issuance process has concluded, no longer issues sleep commands, and begins the homing scheduling process for the next batch of robots to be homed. For robots that have not yet entered the sleep state, staff can detect whether they have experienced a malfunction and take appropriate action.

[0125] It can be seen that in the embodiment of the present application, the scheduling device will home the robots to be homed in batches, which can ensure that the robots enter the homing area in an orderly manner, avoid congestion and frequent avoidance due to limited space, and thus further improve the homing efficiency of the robots.

[0126] In the technical solution provided in the above embodiment, the scheduling device determines the homing batches to which all robots to be homing belong at one time, and then issues the generated homing movement tasks to the robots to be homing in each homing batch in batches, and schedules the robots to be homing to return. In addition, the scheduling device can also temporarily determine the robots to be scheduled for each homing batch before scheduling the robots in the homing batch. Based on this, the embodiment of the present application also provides a robot homing method, such as Figure 3 As shown, the following steps S301-S305 may be included.

[0127] S301 , in response to a homing instruction, determining robots to be homed that belong to a current batch based on the device types of the robots to be homed and the number of robots to be homed corresponding to each device type.

[0128] The scheduling device can determine the robots to be homed in the current batch from among the robots to be homed that have not yet returned, based on the device type of each robot to be homed and the number of robots to be homed corresponding to each device type. The scheduling device can determine the robots to be homed in the current batch based on the following factors: the preset number of robots to be scheduled in the current batch, the priority of the device type of the robots to be homed, and the number of robots to be homed corresponding to each device type. For details, please refer to the description of determining the robots to be homed in each homing batch based on the above factors in step S201, and will not be repeated here.

[0129] S302, determining the homing positions corresponding to the robots to be homing in the current batch.

[0130] The scheduling device can determine the current idle positions from the pre-stored homing positions, and then determine the scheduling number of positions of the current batch of robots from the idle positions as the homing positions corresponding to the robots to be homed in the current batch.

[0131] S303 , generating a homing movement task for the robot to be homed according to the homing position corresponding to the robot to be homed in the current batch and the current position.

[0132] The scheduling device can perform path planning based on the homing positions and current positions of the current batch of homing robots, plan mutually non-interfering homing paths for the current batch of homing robots, and generate homing movement tasks for the current batch of homing robots based on the planned homing paths. For example, the scheduling device can use the following path planning algorithms to plan paths for the homing robots: breadth-first algorithm, RRT (Rapidly Exploring Random Tree) algorithm, ant colony algorithm, or dynamic programming algorithm, etc., without specific limitation here.

[0133] If the robot has path planning capabilities, the dispatching device can also send the homing locations of the current batch of homing robots to the corresponding homing robots, allowing the homing robots to perform path planning themselves. The homing robots can use the following path planning algorithms for their own path planning: breadth-first algorithm, RRT algorithm, ant colony algorithm, or dynamic programming algorithm, etc., without specific limitations here.

[0134] S304: Send the homing movement tasks of the robots to be homed in the current batch to the corresponding robots to be homed, so that the robots to be homed move to the homing position.

[0135] The scheduling device may issue the homing movement tasks of the current batch of robots to be homing to the corresponding robots to be homing, so that the robots to be homing move to the homing position.

[0136] At step S305, when the robots in the current batch waiting to be homed have completed homing, a sleep instruction is issued to the homed robots in the current batch that meet the preset sleep conditions, causing the homed robots to enter a sleep state. After the homed robots in the current batch enter the sleep state, the process returns to step S301, where the process determines the robots in the current batch waiting to be homed based on the device type of each robot waiting to be homed and the number of robots waiting to be homed corresponding to each device type, until the last batch of homed robots enters a sleep state.

[0137] When the scheduling device determines that the robots waiting to be homed in the current batch have completed their homing, it can issue a sleep command to the robots in the current batch that have already homed and meet the preset sleep conditions. The robots in the current batch that have already homed and meet the preset sleep conditions enter the sleep state according to the received sleep command.

[0138] The current batch of robots awaiting homing may complete homing when all robots awaiting homing in the current batch have moved to their respective homing locations. The current batch of robots awaiting homing may also complete homing when the duration of the process of robots awaiting homing in the current batch moving to their homing locations reaches the preset maximum allowable duration for scheduling. The specific method for determining whether the robots awaiting homing have moved to their respective homing locations and whether the duration of the process has reached the preset maximum allowable duration for scheduling can be found in the description of step S104 and will not be repeated here.

[0139] As can be seen, in the embodiment of the present application, the scheduling device determines the robots to be homed in each batch before scheduling the robots in that batch. In this way, the robots to be homed in the next batch to be scheduled can be adjusted in real time based on the number of robots that have actually completed homing in each batch, thus preventing robots from the previous batch that have not completed homing from hindering the homing of robots in the next batch, thereby further improving the homing efficiency of the robots.

[0140] As an implementation method of an embodiment of the present application, the homing position may include an area position in at least one set area; the above-mentioned step S101 may specifically include: responding to a homing instruction, based on the device type of the robot to be homed indicated by the homing instruction and the correspondence between the preset device type and the set area, determining the target area position of the robot to be homed in the corresponding set area as the corresponding homing position of the robot to be homed.

[0141] The designated area is a designated area within the robot's scene for parking the homed robot. The area includes at least one location. The scheduling device can use a location within the designated area as the homing location of the robot waiting to be homed, and the robot waiting to be homed can move to the location to sleep.

[0142] The scheduling device may pre-store preset correspondences between device types and designated areas. These correspondences indicate which device types can be parked in a designated area. Each designated area can accommodate robots of multiple device types, and robots of each device type can be parked in one designated area or in multiple designated areas. For designated areas without designated device types, robots of any device type can be parked. Three examples of correspondences between device types and designated areas are provided below.

[0143] In one example, each set area can accommodate robots of multiple device types. For example, the set areas include set area A and set area B, and the device types include device type 1, device type 2, device type 3, device type 4, and device type 5. The correspondence between the set areas and device types can be shown in Table 1 below.

[0144]

[0145] In Table 1, setting area A corresponds to device type 1, device type 2, and device type 3, that is, setting area A can be used to park robots of device type 1, device type 2, and device type 3; setting area B corresponds to device type 3, device type 4, and device type 5, that is, setting area B can be used to park robots of device type 3, device type 4, and device type 5.

[0146] In another example, each device type robot can be parked in a set area. For example, the set areas include set area C and set area D, and the device types include device type 6, device type 7, and device type 8. The correspondence between the set areas and device types can be shown in Table 2 below.

[0147] Table 2

[0148]

[0149] In Table 2, setting area C corresponds to device type 6 and device type 7, that is, setting area C can be used to park device type 6 and device type 7; setting area D corresponds to device type 8, that is, setting area D can be used to park a robot of device type 8.

[0150] In another example, robots of each device type can be parked in multiple set areas. For example, the set areas include set area E, set area F, and set area G, and the device types include device type 9, device type 10, device type 11, and device type 12. The correspondence between the set areas and device types can be shown in Table 3 below.

[0151] Table 3

[0152]

[0153] In Table 3, area E corresponds to device type 9 and device type 10, meaning that area E can be used to park device types 9 and 10; area F corresponds to device type 9 and device type 11, meaning that area F can be used to park device types 9 and 11; and area G corresponds to device type 9, device type 11, and device type 12, meaning that area G can be used to park device types 9, device type 11, and device type 12. Device types 9 and 11 can both be parked in multiple areas.

[0154] The scheduling device responds to the homing instruction, determines the set area corresponding to the device type of the robot to be homed based on the device type of the robot to be homed indicated by the homing instruction and the correspondence between the preset device type and the set area, and determines the target area position from the corresponding set area.

[0155] In one embodiment, the scheduling device can determine the homing positions corresponding to each batch of robots waiting to be homed in the following manner: based on the positional relationships between the various zones within a set area, the target zone positions corresponding to each batch of robots waiting to be homed in are determined sequentially from the innermost to the outermost zones. In other words, robots waiting to be homed at the front of the batch can be prioritized for entry to positions further in the set area. This prevents robots waiting to be homed in subsequent batches from having to bypass already-homed robots to enter zones deeper in the set area, facilitating the movement of robots waiting to be homed in subsequent batches to their corresponding homing positions.

[0156] For example, Figure 4a-4g In the set area of ​​the warehouse shown, the robot can enter the set area through the three paths s1 in front of the set area and the four paths s2 on the right side. The intersection of paths s1 and s2 with the boundary of the set area can be regarded as the entrance of the set area. Figure 4a-4g The robot marked with a dotted box is the last robot to arrive at the homing position in the corresponding homing batch.

[0157] Figure 4a Robot 401, robot 402, forklift robot 403, and forklift robot 404 belong to homing batch 1. Figure 4b The robots 405, 406, 407, 408, and 409 in FIG. 4 belong to homing batch 2. Figure 4a as well as Figure 4b As shown in FIG, the scheduling device preferentially schedules the robots belonging to homing batch 1 and homing batch 2 to the inner position, that is, the position farther from the entrance of the set area. Figure 4c-4gAs shown, the scheduling device gradually assigns homing positions to the robots to be homing in each batch from the inside to the outside.

[0158] The subsequent scheduling equipment can perform one-click homing in an orderly manner in batches according to the homing positions determined above. According to the homing positions corresponding to each batch, the associated homing movement tasks are generated for the robots to be homed of the specified equipment type. The robots to be homed go to the homing positions in an orderly manner according to the homing movement tasks. This process can also be called the one-click homing scheduling stage.

[0159] As can be seen, in the embodiment of the present application, the scheduling device arranges the robots to be homed according to their device type, facilitating unified management of the robots. This ensures that the robots enter the homing area in an orderly manner according to their device type and homing batches, avoiding congestion and frequent avoidance caused by limited space, thereby further improving the robots' homing efficiency.

[0160] As an implementation method of an embodiment of the present application, the homing position may also include a temporary residence position in the scene where the robot to be homed is located; the above-mentioned step S101 may specifically include: responding to a homing instruction, based on the device type of the robot to be homed indicated by the homing instruction and the correspondence between the preset device type and the set area, determining the target area position of the robot to be homed in the corresponding set area as the corresponding homing position of the robot to be homed; when the number of area positions included in the set area is less than the number of devices, the homing position of the excess robot is determined as the temporary residence position or the current position of the excess robot.

[0161] If a set area includes fewer locations than the number of devices, the set area cannot accommodate all robots of the corresponding device type. The number of devices refers to the number of robots of the device type corresponding to the set area. For robots that exceed the number of locations in the set area (i.e., the number of robots in the area), the scheduling device can determine the homing location of the excess robots as either a temporary location within the scene or their current location. The excess robots can then move to the temporary location for homing or remain where they are, awaiting a sleep command from the scheduling device.

[0162] Among them, the temporary residence position is a pre-set point where a dormant robot can be parked, for example, a non-channel position in the scene where the robot to be homing is located, a position in the buffer zone, etc. These temporary residence positions can be scattered or adjacent, and are not specifically limited here.

[0163] In one embodiment, the scheduling device can determine the temporary location closest to the current location of the robot to be homed as the homing location corresponding to the robot to be homed, thereby avoiding repeated dispatch of the robot to be homed to the same temporary location to cause position conflicts, and further improving the robot's homing efficiency.

[0164] As can be seen, in the embodiment of the present application, the scheduling device preferentially determines the regional position within the set area as the homing position corresponding to the robot to be homed. For excess robots that cannot be accommodated in the set area, the scheduling device can determine the homing position of these robots as the temporary location or the current location of the excess robots.

[0165] As an implementation method of an embodiment of the present application, before issuing a sleep instruction to a homed robot that meets the preset sleep conditions, the embodiment of the present application also provides a method for detecting early termination of homing scheduling, including the following steps: every preset detection time, detecting whether the current batch of robots to be homed meet the early termination conditions of homing scheduling; if the early termination conditions of homing scheduling are met, determining that the current batch of robots to be homed have completed homing.

[0166] Among them, the early end condition of homing scheduling is used to indicate that the robot to be homing has entered the homing position.

[0167] The scheduling device can periodically detect whether the current batch of robots waiting to be home have entered the homing position at a preset detection time interval. In other words, it can detect whether the current batch of robots waiting to be home are ready to home and waiting to sleep, thereby determining whether the current batch of robots waiting to be home meet the conditions for early termination of homing scheduling. The preset detection time can be set based on factors such as the size of the scene in which the robots waiting to be home are located and the movement speed of the robots. For example, the preset detection time can be 5 minutes, 8 minutes, 10 minutes, etc., and is not specifically limited here.

[0168] If all robots in the current batch waiting to be homed are in the state of waiting for a sleep command, that is, if they have all entered the homing position, the scheduling device can determine that the robots in the current batch waiting to be homed meet the conditions for early termination of homing scheduling. If there are robots in the current batch waiting to be homed that are not in the state of waiting for a sleep command, the scheduling device can determine that the robots in the current batch waiting to be home do not meet the conditions for early termination of homing scheduling.

[0169] When the conditions for early termination of homing scheduling are met, the scheduling device determines that the robots to be homing in the current batch have completed homing and enters the stage of issuing sleep instructions to issue sleep instructions to the robots that have already homed and meet the preset sleep conditions.

[0170] It can be seen that in the embodiment of the present application, the scheduling device can promptly determine that the current batch of robots to be homing have completed homing in advance when it detects that the robots to be homing in the current batch have entered the homing position ahead of time. In the case of completing homing ahead of time, the scheduling device issues a sleep instruction to cause the homed robots in the homing batch to enter the sleep state in advance, and then issues the homing movement tasks for the next batch of robots to be homing, and begins scheduling the next batch of robots to be homing to return to the home without having to wait until the preset homing scheduling time expires, further improving the robots' homing efficiency.

[0171] As an implementation method of the present application, Figure 5 As shown, the above step of detecting whether the robots to be homing in the current batch meet the conditions for early termination of homing scheduling may specifically include the following steps S501-S503.

[0172] S501 traverses the robots to be homed in the current batch, and when it is determined that the device information of the robot currently traversed matches the specified sleep information, determines whether the robot currently traversed is in a state of waiting for a sleep instruction to be issued.

[0173] The scheduling device can traverse the current batch of robots waiting to be homed and match the device information of the currently traversed robots with the designated sleep information. The designated sleep information is used to represent the device information of the robots that need to sleep, and may include: the designated area where the homing location of the robots waiting to be homed is located and / or the designated device type of the robots waiting to be homed.

[0174] If the device information of the currently traversing robot matches the specified sleep information, the scheduling device further determines whether the currently traversing robot is in a state waiting for a sleep instruction to be issued. In one embodiment, if the robot is at the corresponding homing position, the scheduling device may determine that the robot is in a state waiting for a sleep instruction to be issued; otherwise, the scheduling device may determine that the robot is not in a state waiting for a sleep instruction to be issued.

[0175] For example, continuing the example in Table 3, the sleep information is specified as follows: the areas where the homing positions of the robots waiting to be homed that need to sleep are located are set areas E and G, and the device types of the robots waiting to be homed that need to sleep are device type 9 and device type 12.

[0176] The scheduling device matches the device information of the currently traversed robot with the specified sleep information. If the device type of the currently traversed robot is device type 9 or device type 12, and the corresponding homing location is in set area E or set area G, the scheduling device determines that the device information of the currently traversed robot matches the specified sleep information. If the device information of the currently traversed robot matches the specified sleep information, the scheduling device can further determine whether the currently traversed robot is in a state waiting for a sleep instruction to be issued.

[0177] S502 : When the currently traversed robot is not in a state of waiting for a sleep instruction to be issued, it is determined that the robots to be homing in the current batch do not meet the early termination condition of the homing scheduling.

[0178] If the currently traversed robot is not in the state of waiting for the sleep command to be issued, it means that there are robots waiting to be homed that have not completed homing. The scheduling device determines that the robots waiting to be homed in the current batch do not meet the conditions for early termination of homing scheduling, stops traversing the next robot, and waits for the robots waiting to be homed in the current batch to continue homing.

[0179] S503, when the currently traversed robot is in the state of waiting for the issuance of a sleep instruction, traverse the next robot and return to execute step S501 until all the robots to be homed in the current batch are traversed and no robots to be homed that are not in the state of waiting for the issuance of a sleep instruction are detected, determine that the robots to be homed in the current batch meet the conditions for early termination of the homing scheduling.

[0180] If the currently traversed robot is in the waiting state for the sleep command, the scheduling device will traverse the next robot. If the traversal of the current batch of waiting-to-home robots is completed and no waiting-to-home robots that are not in the waiting state for the sleep command are detected, it means that all waiting-to-home robots that need to sleep are already in the waiting state for the sleep command. The scheduling device can determine that the current batch of waiting-to-home robots meets the conditions for early termination of homing scheduling, and the subsequent homing scheduling phase can be terminated early.

[0181] If a homing robot that is not in the state of waiting for the issuance of a sleep command is detected during the subsequent traversal process, the scheduling device determines that the homing robots in the current batch do not meet the early termination conditions of the homing scheduling, stops traversing the next robot, and waits for the homing robots in the current batch to continue homing.

[0182] As can be seen, in the embodiments of the present application, the scheduling device can more accurately detect whether the current batch of robots waiting to be home have completed homing ahead of schedule. If they have completed homing ahead of schedule, the scheduling device issues a sleep command to put the homed robots in that batch into a sleep state ahead of schedule, and then issues homing movement tasks for the next batch of robots waiting to be home, and begins scheduling the next batch of robots waiting to be home to return, without having to wait until the preset homing scheduling time has expired, further improving the robots' homing efficiency.

[0183] As an implementation method of an embodiment of the present application, before the above-mentioned step S101, that is, the step of determining, in response to a homing instruction, the homing position corresponding to the robot to be homed indicated by the homing instruction, the above-mentioned robot homing method also includes the following steps: in response to an area drawing operation of a map of the scene where the robot to be homed is located, determining the map area indicated by the drawing operation as the set area.

[0184] The dispatching device can display a map of the scene where the robot to be homed is located to the staff member, and the staff member can draw an area on the map displayed by the dispatching device. Based on the staff member's area drawing operation, the dispatching device determines the map area indicated by the drawing operation for the robot to be homed as the set area.

[0185] The aforementioned dispatching device can also be deployed with a client. On the dispatching device's client interface, personnel can draw a designated homing area within the scene where the homing robot is located. This is called a designated area. A designated homing area can consist of multiple areas, each of which can specify the type of device to which it should be dispatched. Without specifying a device type, all device types are automatically supported. If the robot only needs to shut down and hibernate in place or at a temporary location, a designated homing area is not required.

[0186] It can be seen that in the embodiment of the present application, the staff can specify or adjust the robot's homing area according to actual conditions, and the scheduling device can schedule the robot to return to the set homing area of ​​the robot specified or adjusted by the staff, thereby facilitating the management of the robot.

[0187] In order to more clearly illustrate the above robot homing method, the present application embodiment also provides the following Figure 6a and Figure 6b The three flow charts shown.

[0188] Figure 6a The fourth flow chart of the robot homing method provided in the embodiment of the present application includes steps a1-a10.

[0189] Step a1: Draw a one-key homing area on the scheduling device.

[0190] The one-key homing area is the above-mentioned set area, and the staff draws the area on the map of the scene where the robot to be home is located.

[0191] Step a2: Send a one-key homing task to the scheduling device.

[0192] The one-click homing task is the homing command mentioned above. The staff sends the homing command to the dispatching device. After receiving the homing command, the dispatching device dispatches the robots to be homed in batches to execute the one-click homing task in an orderly manner.

[0193] Step a3: The scheduling device changes from working mode to one-key homing mode.

[0194] The scheduling device can change from working mode to one-key homing mode, enter the batch one-key homing scheduling stage, and schedule the robots waiting to be homed to return.

[0195] Step a4: Generate associated homing movement tasks.

[0196] In response to the one-touch homing task, the scheduling device can determine the homing batch to which the homing robot indicated by the one-touch homing task belongs. The scheduling device then determines the homing position corresponding to the indicated homing robot based on the one-touch homing task. The scheduling device then generates a homing movement task for each homing robot based on the homing position and current position of each homing robot, as described above in steps S201 and S203.

[0197] Step a5: Issue the homing movement task.

[0198] The scheduling device may issue a homing movement task to each waiting homing robot, as in step S204 above.

[0199] Step a6: Check whether the duration of the batch one-key homing scheduling phase has ended.

[0200] The scheduling device can determine whether the scheduling duration of the current batch of robots to be homing has reached the maximum allowable scheduling duration. If so, the scheduling device can determine that the batch's one-touch homing phase has ended. If not, the scheduling device can determine that the batch's one-touch homing phase has not ended, and the scheduling device can execute step a7 to determine whether the batch's one-touch homing detection scheduling process has been completed ahead of schedule.

[0201] Step a7: The batch one-key homing check is performed to see if the scheduling process is completed ahead of schedule.

[0202] The scheduling device can determine whether the robots in the current batch waiting to home meet the conditions for early termination of homing scheduling, as described in steps S501-S503 above. If the conditions are met, the scheduling process has been completed ahead of schedule, and the batch can enter the phase of issuing the one-key homing shutdown and hibernation instructions. If the conditions are not met, the scheduling process has not been completed ahead of schedule, and the scheduling process continues.

[0203] Step a8: Send a shutdown and hibernation instruction.

[0204] The scheduling device may send a shutdown and sleep instruction, i.e., a sleep instruction, to the homed robot that meets the preset sleep conditions, so that the homed robot enters the sleep state, as shown in step S104 above.

[0205] Step a9: Check whether the duration of the shutdown and hibernation instruction issuance phase is over.

[0206] The scheduling device can determine whether the duration of the shutdown command issuance process for the current batch, that is, the sleep command issuance process, has reached the set maximum duration for sleep command issuance. If so, the scheduling device can determine that the duration of the shutdown and sleep command issuance phase has ended and execute step a10. If not, the scheduling device can determine that the duration of the shutdown and sleep command issuance phase has not ended and continue executing the sleep command issuance process.

[0207] Step a10: The working mode changes from one-key homing to normal mode.

[0208] After the shutdown and hibernation command phase is complete, the dispatching device's operating mode changes from one-key homing mode to normal mode, i.e., normal operating mode, and then enters the next batch of one-key homing.

[0209] Steps a1-a10 above are the complete process of one-key homing. The following further introduces the specific details of the one-key homing process for each batch and the process of ending the batch early.

[0210] Figure 6b for Figure 6a The specific flow chart of the homing process of each homing batch in the illustrated embodiment includes steps b1 to b12.

[0211] Step b1: The scheduling device parses relevant information.

[0212] In a one-click homing task, you can specify the device type of the robot to be homed. This allows the homing process to process only robots of the specified type, ignoring robots of other types. The scheduling device can parse the relevant information in the one-click homing task to obtain information such as the device type of the robot to be homed.

[0213] Step b2: The working mode of the scheduling device is changed from the normal mode to the one-key homing mode.

[0214] The working mode of the scheduling device changes from normal mode to one-key homing mode, entering the one-key homing scheduling process. For a robot in the homing state, the scheduling device will no longer assign new tasks to the robot.

[0215] Step b3: Determine whether the homing device type is specified.

[0216] The scheduling device can determine the robot of the specified homing device type from all robots in the current area. For the robot of the specified device type, the scheduling device will no longer assign new work tasks to the robot except for homing-related tasks, and schedule the robot of the specified device type to return to the home.

[0217] Step b4: specify the homing area to go to.

[0218] The scheduling device can determine the homing location, that is, the homing area, for robots of the specified homing device type. This is similar to step S101 above. The scheduling device can convert the homing location into a point set, and prioritize scheduling robots to homing locations within the set area. If the set area cannot accommodate all robots of the specified homing device type, the scheduling device will schedule the remaining robots of the specified homing device type to the nearest temporary location for temporary accommodation. The scheduling device then generates an associated homing movement task for the robot of the specified homing device type, i.e., the robot to be homed. This is similar to step S102 above.

[0219] Step b5: dispatch the robot to the homing area.

[0220] The scheduling device may issue a homing movement task to the robot of the determined designated homing device type, and schedule the robot to go to the homing area, as in step S103 above.

[0221] Step b6: Check whether homing ends early.

[0222] The scheduling device detects whether all devices of the specified type are in an idle state and have been assigned to a temporary location. That is, the scheduling device detects whether the robots to be homed in the current batch meet the conditions for early termination of the homing scheduling.

[0223] If all devices of the specified type meet the idle status and have been assigned to temporary locations, it means that the robots to be homing in the current batch meet the conditions for early termination of homing scheduling, and homing ends early. The scheduling device executes step b8 to enter the one-key homing shutdown and hibernation process in advance.

[0224] If not all devices of the specified type are in the idle state or there are devices of the specified type that have not been assigned to a temporary location, it means that the current batch of robots waiting to home do not meet the early termination conditions for homing scheduling. The scheduling device then executes step b7 to check whether the maximum allowable homing duration has been reached, as described in steps S501-S503 above.

[0225] Step b7: Check whether the maximum allowed duration of homing has been reached.

[0226] The scheduling device can determine whether the scheduling duration of the current batch of robots to be homing has reached the maximum allowable scheduling duration. If so, step b8 can be executed to enter the one-key homing shutdown and hibernation process. If not, the homing scheduling process continues until the maximum allowable homing duration is reached or the homing process ends prematurely.

[0227] Step b8: Determine whether to shut down only the specified device type in the specified area.

[0228] The scheduling device can determine, based on the parsed relevant information in the one-touch homing task, whether the one-touch homing task indicates that only the specified device type in the specified area should be shut down. If so, the scheduling device executes step b9 to filter out devices in non-specified areas. If not, the scheduling device executes step b10.

[0229] Step b9: Filter devices in non-designated areas.

[0230] Step b10: Send a shutdown and sleep instruction along with automatic power-on and wake-up information.

[0231] The scheduling device can send a shutdown and sleep instruction to the robots that meet the preset sleep conditions among the filtered robots, and carry the scheduled power-on and wake-up information in the shutdown and sleep instruction.

[0232] Step b11: Check whether the shutdown sleep duration has arrived.

[0233] The scheduling device can detect whether the duration of the one-key homing shutdown sleep instruction issuance process of the current batch reaches the maximum duration of the sleep instruction issuance. If so, the scheduling device executes step b12 to restore the normal mode.

[0234] Step b12: The one-key homing process ends and the normal mode is restored.

[0235] The scheduling device determines that the one-key homing process of the current batch is completed, changes the working mode from the one-key homing mode to the normal mode, and waits for the next batch to return.

[0236] Figure 6c for Figure 6a The specific flow chart of the method for terminating the homing process of a batch in advance in the embodiment shown includes steps c1-c6.

[0237] During the batch one-key homing scheduling stage, the scheduling equipment can detect whether the robots to be homing in the current batch meet the conditions for early termination of homing scheduling at preset detection time intervals.

[0238] The dispatching device can execute step c1 to detect whether the robot is a specified device type, that is, whether the robot's device type matches the specified device type. If the robot's device type matches the specified device type, the dispatching device further executes step c2. If the robot's device type does not match the specified device type, the dispatching device executes step c4.

[0239] The dispatching device executes step c2 to check whether the robot is in the designated area. Specifically, it checks whether the robot's homing position is in the designated area. If the robot's homing position is in the designated area, the dispatching device executes step c3. If the robot's homing position is not in the designated area, the dispatching device executes step c4.

[0240] There is no particular order in which step c1 and step c2 are executed. Step c1 can be executed first and then step c2, or step c2 can be executed first and then step c1, or they can be executed simultaneously.

[0241] Step c3, detect whether it is in the state of waiting for the shutdown and sleep instructions to be issued. If so, execute step c4. If not, the scheduling device can execute step c6 to determine whether the batch one-key homing has failed to end the detection early.

[0242] If the device is of the specified type and the homing position corresponding to the device is in the specified area, the scheduling device can detect whether the device is in a state of waiting for the shutdown and sleep instructions to be issued, that is, whether the robot has completed homing.

[0243] Step c4: Check whether all devices that meet the requirements have been tested. If not, check the next device and return to step c1. If so, the scheduling device can execute step c5 to confirm that the batch one-key homing test ends early successfully.

[0244] Step c5: confirm that the batch one-key homing test ends early successfully.

[0245] After the scheduling device determines that the batch one-key homing detection has ended successfully ahead of schedule, it can further determine whether the robot to be homing has completed homing, and further issue a sleep command to the homed robot that meets the preset sleep conditions to put the homed robot into sleep mode.

[0246] Step c6: Determine whether the batch one-key homing test fails to end prematurely.

[0247] After the scheduling device determines that the batch one-key homing early end detection has failed, it can wait for the preset detection time and then perform the batch one-key homing early end detection again.

[0248] In order to more clearly illustrate the above robot homing method, the present application embodiment also provides the following Figure 7 An example is shown.

[0249] Figure 7 A plan view of an example of a warehouse where the homing robot is located provided in an embodiment of the present application includes a designated shutdown area 701, i.e., a set area, and each hollow circle in the designated shutdown area 701 represents an area position. Figure 7 The warehouse shown also includes a work area, that is, an area outside the designated shutdown area 701. Shelves 702 are placed in the work area. Figure 7 Each solid rectangle in the figure represents a shelf. The work area is also divided into temporary accommodation locations 703. Figure 7 Each hollow rectangle or hollow circle outside the designated shutdown area represents a temporary location. A robot 704 of the first device type is also running in the working area. Figure 7 Each icon that is identical to the icon of the robot 704 in FIG. 7 represents a robot of the first device type. For shelves, temporary locations, and robots, Figure 7 Only one icon is marked as an example. Other icons of the same shape have the same meaning.

[0250] Figure 7 In the designated shutdown area 701 shown, some parking locations are also equipped with charging stations 705. In addition to robot 704, the work area also operates a robot 706 of a second device type, different from 704, and a forklift robot 707. Robot 706 of the second device type and forklift robot 707 can also be homed using the robot homing method described in the above embodiment.

[0251] against Figure 7 In the warehouse shown, the process of batch homing using the robot homing method provided in the embodiment of the present application is as follows:

[0252] The dispatching device divides the robots to be returned to their homes into seven batches. The dispatching device first dispatches the robots that are determined to belong to batch 1. Figure 4a-4g The setting area shown is Figure 7 The designated shutdown area 701 in FIG. 701, wherein each hollow circle represents an area position. Figure 4aAs shown, robots 401 and 402 of the second device type, as well as forklift robots 403 and 404, belong to homing batch 1. The dispatching device dispatches robots 401, 402, 403, and 404 to home. Robots 401 and 402 are powered down and dormant without being connected to a charging station. Forklift robots 403 and 404 are connected to charging stations, respectively. Forklift robot 403 has entered a dormant state after receiving a dormant instruction from the dispatching device. Forklift robot 404 is waiting to enter a dormant state according to a dormant instruction from the dispatching device.

[0253] After completing the scheduling of homing batch 1, the scheduling device schedules the robots that are determined to belong to homing batch 2. Figure 4b As shown, Figure 4b Robots 401, 402, 403, and 404, belonging to homing batch 1, have arrived at their homing locations and entered a dormant state. The dispatching device is homing five robots of the first device type, belonging to homing batch 2: robots 405, 406, 407, 408, and 409. These five robots are connected to charging stations. Robots 405, 406, 407, and 408 have already entered a dormant state in response to a dormant instruction from the dispatching device. Robot 409 is waiting to enter a dormant state in response to a dormant instruction from the dispatching device.

[0254] The scheduling device will schedule the robots that belong to each homing batch in the same way. Figure 4c As shown, the scheduling device schedules the three robots 410 of the first device type belonging to the homing batch 3 to the homing position in the designated shutdown area. Figure 4d As shown, the scheduling device schedules the three robots 411 of the first device type belonging to the homing batch 4 to the homing position. Figure 4e As shown, the scheduling device schedules two robots 412 of the first device type belonging to homing batch 5 to the homing position. Figure 4f As shown, the scheduling device schedules two robots 413 of the first device type belonging to homing batch 6 to the homing position. Figure 4g As shown, the scheduling device schedules three robots 414 of the first device type belonging to homing batch 7 to the homing position, thereby completing the homing process of all robots to be homed.

[0255] The robot homing method provided in the embodiments of this application can be applied to various scenarios, enabling the orderly dispatching of robots to designated homing areas. This fully automated process involves shutting down robots that have arrived at designated homing areas and then waking them up on a scheduled basis. This significantly reduces the frequency and difficulty of human intervention, improves robot management efficiency, and reduces operation and maintenance costs.

[0256] The robot homing method provided in the embodiment of the present application can select different homing positions according to actual conditions, and supports the combined use of multiple scattered areas, and can adapt to various complex on-site environments. In this way, it can ensure that the robot equipment can safely and orderly go to the homing position in the specified area. In a mixed traffic scenario, the user is allowed to specify the type of equipment that needs to be homed, and fine-tune the management of different types of equipment, which can effectively avoid interference between different types of robot equipment and improve management efficiency. For small and complex homing areas, it supports one-key homing in batches by area to ensure that the equipment can enter the homing area in an orderly manner and enter the shutdown and sleep state. In this way, congestion or collisions caused by limited space can be avoided. The above-mentioned robot homing method that adapts to multiple scenarios can reduce on-site human intervention management, improve the full automation capability of the system, and thus improve the robot's homing efficiency.

[0257] Corresponding to the above-mentioned robot homing method, the embodiment of the present application also provides a robot homing device. Figure 8 As shown, a robot homing device, the device comprising:

[0258] The first determining module 801 is configured to determine, in response to a homing instruction, a homing position corresponding to the homing robot indicated by the homing instruction;

[0259] A generation module 802 is used to generate a homing movement task for each robot to be homed according to the homing position and current position corresponding to the robot to be homed;

[0260] The first issuing module 803 is used to issue a homing movement task to the corresponding robot to be homing, so that the robot to be homing moves to the homing position;

[0261] The second sending module 804 is configured to send a sleep instruction to the homed robots that meet the preset sleep conditions when the waiting-to-home robots have completed homing, so as to put the homed robots into a sleep state.

[0262] As can be seen, in the embodiments of the present application, the scheduling device, in response to a homing instruction, determines the homing position corresponding to the robot to be homed indicated by the homing instruction. Furthermore, based on the homing position and current position of each robot to be homed, it generates a homing motion task for that robot to be homed. The homing motion task is then issued to the corresponding robot to be homed, and the robot to be homed moves to the homing position according to the homing motion task. Once the robot to be homed completes homing, the scheduling device issues a sleep command to the homed robot that meets the preset sleep conditions, causing the homed robot to enter a sleep state. Upon receiving the homing instruction, the scheduling device can schedule the robot to be homed according to the homing instruction and then issue a sleep command to cause the homed robot to enter a sleep state. This eliminates the need for personnel to manually schedule each robot to be homed. Upon receiving the homing instruction, the scheduling device can automatically schedule the robot to be homed according to the homing motion task and, upon completing homing, control the homed robot to enter a sleep state. This improves the robot's homing efficiency and enables one-click homing and one-click sleep for the robot.

[0263] As an implementation method of the embodiment of the present application, the robot homing device may further include a second determination module, a third sending module and a triggering module;

[0264] a second determining module, configured to, before determining a homing position corresponding to the homing robot indicated by the homing instruction, determine, in response to the homing instruction, the robots to be homed belonging to the current batch based on the device type of each robot to be homed and the number of robots to be homed corresponding to each device type;

[0265] The third issuing module is used to determine the homing position corresponding to the current batch of robots to be homed; generate a homing movement task for the robots to be homed based on the homing position corresponding to the current batch of robots to be homed and the current position; and issue the homing movement task of the robots to be homed in the current batch to the corresponding robots to be homed;

[0266] The triggering module is used to trigger the second determining module after the current batch of homed robots enter the dormant state, until the last batch of homed robots enter the dormant state.

[0267] As an implementation of an embodiment of the present application, the homing location may include a regional location in at least one set area; the first determination module 801 may include:

[0268] The first homing position determination unit is used to determine the target area position of the robot to be homed in the corresponding set area based on the device type of the robot to be homed indicated by the homing instruction and the correspondence between the preset device type and the set area, as the corresponding homing position of the robot to be homed.

[0269] As an implementation of an embodiment of the present application, the homing position may also include a temporary location of the robot to be homing in the scene; the first determination module 801 may also include:

[0270] The second homing position determination unit is used to determine the homing position of the excess robot as a temporary position or the current position of the excess robot when the number of area positions included in the set area is less than the number of devices, wherein the number of devices is the number of robots of the equipment type corresponding to the set area, and the excess robot is a robot that exceeds the number of area positions.

[0271] As an implementation of the embodiment of the present application, the robot homing device may further include:

[0272] A detection module is used to detect whether the robots waiting to be homed in the current batch meet the early termination condition of homing scheduling at preset detection time intervals before issuing a sleep command to the robots that have already homed and meet the preset sleep conditions. The early termination condition of homing scheduling is used to indicate that the robots waiting to be homed have entered the homing position.

[0273] The homing completion determination module is used to determine whether the robots waiting to homing in the current batch have completed homing when the conditions for early termination of homing scheduling are met.

[0274] As an implementation of the embodiment of the present application, the above-mentioned detection module may include:

[0275] A first traversal unit is configured to traverse the robots to be homed in the current batch, and determine whether the robot to be traversed is in a state of waiting for a sleep instruction to be issued if it is determined that the device information of the robot to be traversed matches the specified sleep information, wherein the specified sleep information is used to represent the device information of the robot to be sleep;

[0276] A condition determination unit, configured to determine that the robots to be homing in the current batch do not meet the early termination condition of homing scheduling when the currently traversed robots are not in a state of waiting for a sleep instruction to be issued;

[0277] The second traversal unit is used to traverse the next robot when the currently traversed robot is in a state of waiting for a sleep instruction to be issued;

[0278] The trigger unit is used to trigger the first traversal unit until all the robots to be homing in the current batch have been traversed and no robots to be homing that are not in the state of waiting for the issuance of a sleep instruction are detected, thereby determining that the robots to be homing in the current batch meet the conditions for early termination of the homing scheduling.

[0279] As an implementation of an embodiment of the present application, the designated sleep information may include: a designated area where the homing position corresponding to the homing robot that needs to sleep is located and / or a designated device type of the homing robot that needs to sleep.

[0280] As an implementation of the embodiment of the present application, the robot homing device may further include:

[0281] The third determination module is used to determine the map area indicated by the drawing operation as the set area in response to the area drawing operation of the map of the scene where the robot to be homed is located before determining the homing position corresponding to the robot to be homed indicated by the homing instruction in response to the homing instruction.

[0282] As an implementation method of an embodiment of the present application, the sleep instruction may include wake-up information, wherein the wake-up information is used to instruct the homed robot to enter a normal working mode when the sleep time reaches a preset sleep time.

[0283] The present application also provides a scheduling device, such as Figure 9 Shown, including:

[0284] Memory 901, used for storing computer programs;

[0285] The processor 902 is configured to implement the robot homing method in any of the above embodiments when executing the program stored in the memory 901 .

[0286] Furthermore, the scheduling device may further include a communication bus and / or a communication interface, and the processor 902, the communication interface, and the memory 901 communicate with each other via the communication bus.

[0287] The communication bus mentioned in the scheduling device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0288] The communication interface is used for communication between the above-mentioned scheduling device and other devices.

[0289] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0290] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0291] In another embodiment provided by the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned robot homing methods are implemented.

[0292] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the robot homing methods in the above embodiments.

[0293] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0294] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0295] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, the apparatus, scheduling device, computer-readable storage medium, and computer program product embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For related portions, reference can be made to the descriptions of the method embodiments.

[0296] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A robot homing method, characterized in that: The method comprises: In response to a homing instruction, determining a homing position corresponding to the robot to be homing indicated by the homing instruction; Generate a homing movement task for each robot to be homed based on the homing position and current position of the robot to be homed; issuing the homing movement task to the corresponding robot to be homing, so that the robot to be homing moves to the homing position; When the robot to be homing completes homing, a sleep instruction is issued to the homed robot that meets the preset sleep condition, so that the homed robot enters the sleep state.

2. The method according to claim 1, characterized in that Before the step of determining the homing position corresponding to the robot to be homing indicated by the homing instruction, the method further includes: In response to the homing instruction, determining the robots to be homed that belong to the current batch based on the device types of the robots to be homed and the number of robots to be homed corresponding to each device type; The steps of determining the homing position corresponding to the robot to be homed indicated by the homing instruction; generating a homing movement task for each robot to be homed based on the homing position and current position corresponding to the robot to be homed; and issuing the homing movement task to the corresponding robot to be homed include: Determine the homing positions corresponding to the robots to be homed in the current batch; Generate a homing movement task for the robot to be homed according to the homing position and current position corresponding to the robot to be homed in the current batch; Send the homing movement tasks of the current batch of robots waiting to be homed to the corresponding robots waiting to be homed; After the homed robots of the current batch enter a dormant state, the method further includes: Return to executing the step of determining the robots to be homed belonging to the current batch based on the device type of each to-be-homed robot and the number of robots to be homed corresponding to each device type, until the robots that have been homed in the last batch enter the dormant state.

3. The method according to claim 2, characterized in that The homing position includes at least one regional position in a set area; The step of determining the homing position corresponding to the robot to be homing indicated by the homing instruction includes: Based on the device type of the robot to be homed indicated by the homing instruction and the correspondence between the preset device type and the set area, the target area position of the robot to be homed in the corresponding set area is determined as the corresponding homing position of the robot to be homed.

4. The method according to claim 3, characterized in that The homing position also includes a temporary location in the scene where the robot to be homing is located; The step of determining the homing position corresponding to the robot to be homing indicated by the homing instruction further includes: When the number of area locations included in the set area is less than the number of devices, the homing position of the excess robot is determined as a temporary location or the current position of the excess robot, wherein the number of devices is the number of robots of the equipment type corresponding to the set area, and the excess robots are robots that exceed the number of area locations.

5. The method according to claim 2, characterized in that Before the step of issuing a sleep instruction to the homed robot that meets the preset sleep conditions, the method further includes: At predetermined detection intervals, detecting whether the robots to be homing in the current batch meet an early termination condition for homing scheduling, wherein the early termination condition for homing scheduling is used to indicate that the robots to be homing have entered the homing position; When the homing scheduling early termination condition is met, it is determined that the robots to be homing in the current batch have completed homing.

6. The method according to claim 5, characterized in that The step of detecting whether the robots to be homing in the current batch meet the conditions for terminating homing scheduling early includes: Traversing the current batch of robots to be homed, and determining whether the currently traversed robot is in a state of waiting for a sleep instruction to be issued if it is determined that the device information of the currently traversed robot matches the specified sleep information, wherein the specified sleep information is used to represent the device information of the robot that needs to sleep; When the currently traversed robot is not in a state of waiting for a sleep instruction to be issued, determining that the robots to be homing in the current batch do not meet the homing scheduling early termination condition; When the currently traversed robot is in the state of waiting for the sleep instruction to be issued, traverse the next robot; Return to executing the step of determining whether the currently traversed robot is in a state of waiting for a sleep instruction to be issued when it is determined that the device information of the currently traversed robot matches the specified sleep information, until all the robots to be traversed in the current batch are traversed and no robots to be traversed that are not in a state of waiting for a sleep instruction to be issued are detected, and determine that the robots to be traversed in the current batch meet the conditions for early termination of homing scheduling.

7. The method according to claim 6, characterized in that The designated sleep information includes: a designated area where the homing position corresponding to the homing robot that needs to sleep is located and / or a designated device type of the homing robot that needs to sleep.

8. The method according to claim 3 or 4, characterized in that Before the step of determining, in response to the homing instruction, the homing position corresponding to the robot to be homing indicated by the homing instruction, the method further includes: In response to an area drawing operation on a map of a scene where the robot to be homing is located, a map area indicated by the drawing operation is determined as a set area.

9. The method according to any one of claims 1 to 7, characterized in that The sleep instruction includes wake-up information, wherein the wake-up information is used to instruct the homed robot to enter a task to be executed stage when the sleep time reaches a preset sleep time.

10. A robot homing device, characterized in that: The device comprises: A first determining module is configured to determine, in response to a homing instruction, a homing position corresponding to the robot to be homing indicated by the homing instruction; A generation module is used to generate a homing movement task for each robot to be homed according to the homing position and current position corresponding to the robot to be homed; A first issuing module is configured to issue the homing movement task to the corresponding robot to be homing, so that the robot to be homing moves to the homing position; The second sending module is used to send a sleep instruction to the homed robot that meets the preset sleep condition when the robot to be homing completes homing, so that the homed robot enters the sleep state.

11. The device according to claim 10, characterized in that The device also includes a second determining module, a third issuing module and a triggering module; The second determining module is configured to, before determining the homing position corresponding to the homing robot indicated by the homing instruction, determine, in response to the homing instruction, the robots to be homed belonging to the current batch based on the device type of each robot to be homed and the number of robots to be homed corresponding to each device type; The third issuing module is configured to determine the homing positions corresponding to the robots to be homed in the current batch; generate a homing movement task for the robots to be homed based on the homing positions corresponding to the robots to be homed in the current batch and their current positions; and issue the homing movement tasks of the robots to be homed in the current batch to the corresponding robots to be homed; The triggering module is configured to trigger the second determining module after the current batch of homed robots enters the dormant state, until the last batch of homed robots enters the dormant state; and / or, The homing position includes at least one regional position in a set area; The first determining module includes: a first homing position determining unit, configured to determine, based on the device type of the robot to be homed indicated by the homing instruction and a preset correspondence between the device type and the set area, a target area position of the robot to be homed in the corresponding set area as the homing position corresponding to the robot to be homed; and / or, The homing position also includes a temporary location of the robot to be homing in the scene; the first determining module also includes: a second homing position determining unit, configured to determine the homing position of the excess robot as a temporary position or the current position of the excess robot when the number of regional positions included in the set area is less than the number of devices, wherein the number of devices is the number of robots of the device type corresponding to the set area, and the excess robots are robots that exceed the number of regional positions; and / or, The device further comprises: a detection module, configured to detect, at a preset detection time interval, whether the robots to be homing in the current batch meet an early termination condition for homing scheduling before issuing a sleep instruction to the robots that have already been homed and meet the preset sleep conditions, wherein the early termination condition for homing scheduling is used to indicate that the robots to be homing have entered the homing position; A homing completion determination module is used to determine that the robots to be homing in the current batch have completed homing when the homing scheduling early termination condition is met; and / or, The detection module includes: A first traversal unit is configured to traverse the current batch of robots to be homed, and determine whether the currently traversed robot is in a state of waiting for a sleep instruction to be issued if it is determined that the device information of the currently traversed robot matches the specified sleep information, wherein the specified sleep information is used to represent the device information of the robot that needs to sleep; A condition determination unit, configured to determine that the robots to be homing in the current batch do not meet the early termination condition for homing scheduling when the currently traversed robots are not in a state of waiting for a sleep instruction to be issued; The second traversal unit is used to traverse the next robot when the currently traversed robot is in a state of waiting for a sleep instruction to be issued; a triggering unit, configured to trigger the first traversal unit until all robots to be homing in the current batch have been traversed and no robots to be homing that are not in a state of waiting for a sleep instruction to be issued are detected, thereby determining that the robots to be homing in the current batch meet the early termination condition for homing scheduling; and / or, The designated sleep information includes: a designated area where the homing position of the homing robot that needs to sleep is located and / or a designated device type of the homing robot that needs to sleep; and / or, The device further comprises: a third determining module, configured to, before determining, in response to a homing instruction, a homing position corresponding to the robot to be homed indicated by the homing instruction, determine, in response to an area drawing operation on a map of a scene where the robot to be homed is located, a map area indicated by the drawing operation as a set area; and / or, The sleep instruction includes wake-up information, wherein the wake-up information is used to instruct the homed robot to enter a task to be executed stage when the sleep time reaches a preset sleep time.

12. A scheduling device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 9 when executing a program stored in a memory.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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