Robot recycling method and equipment, robot and recycling equipment

Abstract

The invention discloses a robot recycling method and device, a robot and recycling device.The robot recycling method comprises the steps that the predicted completion time of task execution of each robot in multiple robots is obtained; determining a recovery place based on the plurality of predicted completion times; the robot completing task execution is controlled to go to a recovery site; and the recovery equipment is controlled to recover the multiple robots at the recovery site.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot recycling method, equipment, robot, and recycling equipment. Background Technology

[0002] With the widespread application of automation and intelligent devices, robots are taking on more and more functions in various task scenarios. In some applications, multiple robots are carried by unmanned vehicles and work together to perform tasks. After the task is completed, these robots need to be collected centrally for subsequent management and redeployment.

[0003] In related technologies, one approach involves unmanned vehicles (UAVs) traveling to each robot's location one by one for retrieval; another involves fixing the UAV in a specific location, allowing the completed robot to return to that location autonomously. While both methods can achieve robot retrieval, they suffer from low efficiency, especially when multiple robots are working simultaneously, resulting in a longer overall retrieval time and impacting the overall system efficiency.

[0004] Therefore, how to improve the efficiency of robot recycling and reduce the time required for recycling has become an urgent technical problem to be solved. Summary of the Invention

[0005] In view of this, this application provides a robot recycling method, apparatus, robot, and recycling equipment.

[0006] The technical solution of this application embodiment is implemented as follows:

[0007] This application provides a robot recycling method, the method including:

[0008] Obtain the predicted completion time of the task for each of the multiple robots;

[0009] The recovery location was determined based on multiple predicted completion times;

[0010] Control the robot that has completed its task to proceed to the recycling location;

[0011] Control the recycling equipment to collect multiple robots at the recycling location.

[0012] In the above robot retrieval method, the retrieval location is determined based on multiple predicted completion times, including at least one of the following: determining the target robot from multiple robots based on the predicted completion time, and determining the retrieval location based on the task completion location of the target robot; or determining the retrieval location from multiple preset retrieval locations based on the predicted completion time.

[0013] In the above robot retrieval method, the target robot is determined from multiple robots based on the predicted completion time, and the retrieval location is determined based on the task completion location of the target robot. This includes: determining multiple robots whose predicted completion time meets preset conditions as target robots, and determining the retrieval location based on the task completion location of multiple target robots; and determining the robot with the latest predicted completion time as the target robot, and determining the task completion location of the target robot as the retrieval location.

[0014] In the above robot recycling method, controlling multiple robots to go to the recycling location includes: in response to the fact that the remaining power of a first robot among the multiple robots is less than the power required to reach the recycling location, controlling the recycling equipment to recycle the first robot and then go to the recycling location.

[0015] In the above robot recycling method, the recycling location is determined based on multiple predicted completion times, including: obtaining the predicted remaining power of each of the multiple robots; and determining the recycling location based on the multiple predicted completion times and multiple predicted remaining power.

[0016] In the above robot retrieval method, the retrieval location is determined based on multiple predicted completion times, including: obtaining the travel speed information of each of the multiple robots; and determining the retrieval location based on the multiple predicted completion times and multiple travel speed information.

[0017] In the above robot retrieval method, the method further includes: in response to a change in the predicted completion time of a task performed by one of the multiple robots, updating the retrieval location based on the changed predicted completion time.

[0018] This application provides a robotic recycling device, including:

[0019] The acquisition module is used to obtain the predicted completion time of the task performed by each of the multiple robots;

[0020] The determination module is used to determine the recycling location based on multiple predicted completion times;

[0021] The control module is used to control the robot to move to the recycling location after completing the task;

[0022] The control module is also used to control the recycling equipment to collect multiple robots at the recycling location.

[0023] This application provides a robotic recycling device, including:

[0024] The processor is used to obtain the predicted completion time of the task performed by each of the multiple robots; and to determine the recovery location based on the multiple predicted completion times.

[0025] The transmitter sends the recycling location information to multiple robots, which then control the robots that have completed their tasks to proceed to the recycling location.

[0026] The transmitter is also used to send the recycling location to the recycling equipment, and to control the recycling equipment to collect multiple robots at the recycling location.

[0027] This application provides a robot, including:

[0028] The first receiver is used to receive the recycling location sent by the robot recycling device; the recycling location is the location determined by the robot recycling device based on multiple predicted completion times; the predicted completion time is the predicted completion time of the robot's task.

[0029] The first actuator travels to the recycling location so that the recycling equipment can retrieve the robot at the recycling location.

[0030] This application provides a recycling device, including:

[0031] The second receiver is used to receive the recycling location sent by the robot recycling device; the recycling location is the location determined by the robot recycling device based on multiple predicted completion times; the predicted completion time is the predicted completion time of the robot's task.

[0032] The second actuator is used to travel to the recycling location and retrieve multiple robots there.

[0033] This application provides a computer-readable storage medium storing one or more computer programs that can be executed by one or more processors to implement the robot recycling method described above.

[0034] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the technical solutions provided in the embodiments of this application. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0036] Figure 1 A schematic flowchart of a robot recycling method provided in an embodiment of this application;

[0037] Figure 2 This application provides an exemplary flowchart for determining a recycling location. Figure 1 ;

[0038] Figure 3 A schematic diagram of an exemplary process for determining a recycling location is provided in this application embodiment. Figure 2 ;

[0039] Figure 4 A schematic diagram of an exemplary process for determining a recycling location is provided in this application embodiment. Figure 3 ;

[0040] Figure 5 A schematic diagram of an exemplary process for determining a recycling location is provided in this application embodiment. Figure 4 ;

[0041] Figure 6 This is a schematic diagram of the structure of a robot recycling device provided in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of the structure of a robotic recycling device provided in an embodiment of this application;

[0043] Figure 8 A schematic diagram of the structure of a robot provided in an embodiment of this application;

[0044] Figure 9 This is a schematic diagram of a recycling device provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are merely for explaining the relevant application and not for limiting the application. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0046] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of this application pertain. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit the application. It should also be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0047] This application provides a robotic recycling method, implemented by a robotic recycling device, such as... Figure 1As shown, the process includes the following steps S101 to S104:

[0048] Step S101: Obtain the predicted completion time of the task for each of the multiple robots.

[0049] In the embodiments of this application, the robot recycling device is an electronic device with robot recycling function, which may be a tablet computer, laptop computer, handheld computer, personal digital assistant (PDA), desktop computer, etc. The specific robot recycling device is not limited here.

[0050] In embodiments of this application, the robotic recycling device can obtain the predicted completion time of a task performed by each of a plurality of robots. For example, the predicted completion time can be the estimated time point at which the task is expected to be completed, calculated based on the progress of each robot's task, remaining workload, historical execution efficiency, etc. The task, for example, can be: moving goods, cleaning the floor, performing inspection tasks, collecting information, or other tasks that can be automatically performed by the robot.

[0051] For example, a robot is transporting goods. By analyzing the weight already transported and the remaining distance traveled, combined with its average speed, it is predicted that the robot will complete the task in 20 minutes; this 20 minutes is the predicted completion time for the robot to perform the task. Another robot is cleaning the floor. Based on the cleaning area and coverage speed, it is predicted that the robot will complete the task in 35 minutes; this 35 minutes is the predicted completion time for the robot to perform the task. These predicted completion times can help the robot recycling equipment determine the recycling location.

[0052] For example, the robot recycling device can acquire the robot's real-time task status information and use an algorithm model (such as a time prediction model based on machine learning or other neural network models) to calculate this information, thereby predicting the task completion time and obtaining the predicted completion time for each of the multiple robots.

[0053] Step S102: Determine the recycling location based on multiple predicted completion times.

[0054] In the embodiments of this application, after obtaining multiple predicted completion times, the robotic recycling device can determine the recycling location based on the multiple predicted completion times.

[0055] For example, the recycling location refers to a centralized recycling location calculated by the robot recycling equipment based on the predicted completion time of multiple robots performing tasks. All robots that have completed or are about to complete their tasks will go to the recycling location for unified recycling.

[0056] In the embodiments of this application, the robot recycling device can select different recycling location generation strategies according to different situations: if only one robot completes the task later, the location of that robot can be selected as the recycling location; if multiple robots complete the task simultaneously, the geometric center point of the geographical locations of multiple robots can be taken as the recycling location. If multiple robots, although different from the longest predicted completion time, are very close, the robot recycling device can also use the geometric center of the task completion location of the robot with the longest predicted time and the robot with the closest predicted time as the recycling location. Of course, the overall path planning can also be optimized in various ways to improve the efficiency of robot recycling.

[0057] In the embodiments of this application, the robot recycling device can consider factors such as the robot's own task execution capability, whether the execution process is smooth, and whether the task can be completed on schedule, in addition to considering the predicted completion locations of multiple robot tasks. It can also update the corresponding predicted completion time in real time, and then update the recycling location in real time based on the updated predicted completion time.

[0058] Step S103: Control the robot that has completed the task to proceed to the recycling location.

[0059] In the embodiments of this application, after determining the recycling location, the robot recycling device can control the robot that has completed the task to go to the recycling location and wait for recycling.

[0060] In the embodiments of this application, the process of the robot traveling to the recycling location involves path planning and navigation control. The robot can move autonomously using its built-in navigation system based on the relative position between its task completion location and the recycling location. The navigation system can be SLAM positioning, GPS, visual navigation, etc.

[0061] In the embodiments of this application, the robot recycling equipment can continuously monitor whether each robot has successfully arrived at the recycling location. If a route adjustment is required or other reasons prevent the robot from reaching the recycling location, the route will be adjusted or the recycling task will be reassigned to the recycling equipment. Through these operations, it is ensured that all robots can reach the designated location, thereby avoiding recycling failure.

[0062] Step S104: Control the recycling equipment to recycle multiple robots at the recycling location.

[0063] In the embodiments of this application, the recycling equipment can be an unmanned vehicle or other device with mobility and loading capabilities.

[0064] In the embodiments of this application, the recycling device travels to a designated recycling location according to the recycling instructions of the robot recycling device to collect multiple robots in a centralized manner. For example, the recycling device can wait for the robots to arrive at the recycling location and then collect the robots that have arrived. If multiple robots arrive at the same time, they can be collected sequentially. In this way, after the last batch of robots arrives, the robot recycling device only needs to collect the last batch of robots to complete the collection of multiple robots.

[0065] In the embodiments of this application, when scheduling the robot recycling equipment, it is necessary to comprehensively consider factors such as the load-bearing capacity, driving speed and energy consumption of the recycling equipment itself, and reasonably arrange the recycling tasks to be performed by the recycling equipment, so as to ensure that all robot recycling tasks can be completed in the shortest time and reduce overall energy consumption.

[0066] In this way, by obtaining the predicted completion time of each robot's task, the optimal recycling location can be determined, and robots that have completed their tasks and recycling equipment can be rationally scheduled, achieving efficient and centralized robot recycling. This effectively solves the problem of low robot recycling efficiency in related technologies and improves the overall operating efficiency of multiple robots.

[0067] In some embodiments, when the robotic recycling device performs step S102 as described above, Figure 2 As shown, the following step S201 can also be performed:

[0068] Step S201: Determine the target robot from multiple robots based on the predicted completion time, and determine the recovery location based on the target robot's task completion location.

[0069] In the embodiments of this application, the robot recycling device can identify the robot with the latest predicted completion time among multiple robots as the target robot, or it can identify the robot whose predicted completion time differs from the longest predicted completion time by 3 minutes (or other times) among multiple robots as the target robot. By selecting the target robot, the recycling route can be planned uniformly, avoiding the time waste caused by recycling one by one.

[0070] For example, if there are at least two target robots, the retrieval location can be determined based on at least two task completion locations corresponding to the at least two robots. If there is only one target robot, the task completion location of that robot can be determined as the retrieval location. The task completion location is the position of the target robot after completing its task. The task completion location may be fixed or dynamically changing. If the task completion location changes due to changes in the task, the retrieval location also needs to be adjusted accordingly.

[0071] In the embodiments of this application, if a robot's completion time is late due to a complex path or a large amount of task content, or if its completion time is early due to a malfunction or high efficiency, the robot retrieval device can retarget the robot based on its corresponding predicted completion time and the predicted completion times of other robots among multiple robots, and set the retrieval location based on the task completion position of the target robot. This avoids the lag in retrieval locations determined based on multiple initial predicted completion times, improving the timeliness and accuracy of retrieval location updates.

[0072] In other embodiments, when the robotic recycling device performs step S102 as described above, such as Figure 2 As shown, the following step S202 can also be performed:

[0073] Step S202: Determine the recycling location from multiple preset recycling locations based on the predicted completion time.

[0074] In the embodiments of this application, the preset recycling location can be a plurality of preset recycling locations. These preset recycling locations are typically areas that are easy to manage and operate centrally, such as warehouse entrances, charging stations, and loading and unloading areas. The robotic recycling equipment will select an optimal recycling location from the plurality of preset recycling locations based on the distribution of the predicted completion times of each robot, so that most robots can reach the optimal recycling location within a similar time frame, thereby reducing waiting time and energy consumption.

[0075] For example, in a factory automation scenario, if multiple robots complete tasks at different workstations, the robot recycling equipment can select a preset recycling location, such as a central charging station or distribution center, close to the task completion location of most robots, based on the predicted completion time of these robots. This selection method helps reduce the frequency of back-and-forth transportation between the system and the robots, thereby improving the system's response speed.

[0076] In the embodiments of this application, each of the multiple preset recycling locations can also be the task completion position corresponding to some or all of the multiple robots. For example, the multiple predicted completion times are 23 minutes, 48 ​​minutes, 49 minutes, 45 minutes, 30 minutes, and 15 minutes. Then, the multiple preset recycling locations can be obtained based on the task completion positions of the robots corresponding to 48 minutes, 49 minutes, and 45 minutes.

[0077] In this way, the robotic recycling equipment selects the optimal location from multiple preset recycling locations based on the predicted completion time. This balances the differences in arrival times of each robot, reduces unnecessary waiting and empty runs, optimizes the overall recycling process, improves operational efficiency, further reduces energy consumption, and increases the task completion rate.

[0078] In some embodiments, when the robotic recycling device performs step S201 as described above, Figure 3 As shown, the following steps S301 can also be performed:

[0079] Step S301: Select multiple robots whose predicted completion time meets the preset conditions from among multiple robots as target robots, and determine the recycling location based on the task completion position of multiple target robots.

[0080] In the embodiments of this application, if the predicted completion time of the robot is within a preset time range and the longest predicted completion time among multiple predicted completion times, the robot is determined to be the target robot, and its predicted completion time is determined to meet the preset conditions. The preset time range can be 5 minutes, 3 minutes, or other time ranges. It can be set based on actual needs and application scenarios, and this application does not limit it.

[0081] For example, if the preset time range is 5 minutes, and there are multiple predicted completion times of 23 minutes, 48 ​​minutes, 49 minutes, 45 minutes, 30 minutes, and 15 minutes, then the retrieval location can be determined based on the task completion positions of robot 1 (48 minutes), robot 2 (49 minutes), and robot 3 (45 minutes). For example, determining the retrieval location could be done by using the geometric center point of the task completion positions of robots 1, 2, and 3 as the retrieval location.

[0082] In the embodiments of this application, if there is a longest predicted completion time among the predicted completion times of multiple robots and the longest predicted completion time corresponds to at least two robots, then it is determined that the predicted completion times of at least two robots meet the preset conditions. Then, the at least two robots are the target robots. For example, the geometric center point of the at least two task end positions corresponding to the at least two robots can be determined as the recycling location.

[0083] For example, if multiple predicted completion times are 23 minutes, 48 ​​minutes, 29 minutes, 35 minutes, 48 ​​minutes, and 48 minutes, then the robot corresponding to 48 minutes can be identified as the target robot, and the geometric center point of the task completion position of the target robot corresponding to 48 minutes can be used to determine the recycling location.

[0084] In some embodiments, when the robotic recycling device performs step S201 as described above, Figure 3 As shown, the following steps S302 can also be performed:

[0085] Step S302: Determine the robot with the latest predicted completion time from among multiple robots as the target robot, and determine the task completion location of the target robot as the recycling location.

[0086] In the embodiments of this application, the robot recycling device identifies the robot with the latest predicted completion time among multiple robots as the target robot, and determines the task completion location of the target robot as the recycling location.

[0087] For example, if the predicted completion time is 23 minutes, 48 ​​minutes, 49 minutes, 45 minutes, 30 minutes, and 15 minutes, then the robot's task completion position corresponding to 49 minutes can be used to determine the recycling location.

[0088] In the embodiments of this application, if the predicted completion time of the multiple robots meets the preset conditions, the recycling location can be determined based on step S301; if the predicted completion time of the multiple robots does not meet the preset conditions, the recycling location can be determined based on step S302.

[0089] Thus, by introducing the concepts of preset conditions and the latest predicted completion time, and combining two different recycling strategies, the recycling scheme can be flexibly adjusted in different scenarios, thereby maximizing resource utilization and optimizing recycling efficiency.

[0090] In some embodiments, when performing step S103 above, the robot recycling device may perform the following steps: in response to the fact that the remaining power of the first robot among the multiple robots is less than the power required to reach the recycling location, the recycling device is controlled to recycle the first robot and then proceed to the recycling location.

[0091] In the embodiments of this application, if the remaining power of the first robot among multiple robots is less than the power required to reach the recycling location, the robot recycling equipment can first recycle the first robot and then go to the recycling location to recycle other robots that can autonomously reach the recycling location.

[0092] In the embodiments of this application, the robot recycling equipment monitors the current remaining power of each robot in real time and compares this remaining power with the power required for each robot to reach the recycling location. If it is found that the remaining power of a certain robot (the first robot) is insufficient to support the robot to reach the recycling location, the robot recycling equipment will take active intervention measures.

[0093] For example, the robotic recycling equipment will control the recycling device to go to the location of the first robot and retrieve the first robot onto the recycling device first. Then, the robotic recycling device will control the recycling device to carry the first robot to the final recycling location. In this way, the problem of the entire recycling process being halted due to insufficient power of a single robot can be avoided, thereby improving the robustness and efficiency of robotic recycling.

[0094] In the embodiments of this application, the required power consumption refers to the energy value necessary for the robot to travel from its current location to the recycling location along the optimal path. The required power consumption can be calculated using a pre-modeled path planning algorithm, or it can be dynamically adjusted by the robot recycling equipment based on historical data to adapt to energy consumption changes in different environments. For example, in complex terrain or traffic congestion, the required power consumption may increase significantly, and the robot recycling equipment needs to promptly identify and respond to changes in the required power consumption.

[0095] In the embodiments of this application, it is assumed that the recycling equipment is recovering multiple robots that have completed their tasks. One robot's battery has only 15% remaining, and based on an estimate, the robot needs at least 20% more battery power to successfully reach the recycling location. In this case, the recycling equipment will prioritize going to the location of the first robot and recovering it, before continuing to the other robot rendezvous point or the final recycling location. This ensures that all robots can be effectively recycled, reduces unnecessary waiting time, and improves overall recycling efficiency.

[0096] In the embodiments of this application, if the first robot includes multiple third robots, then controlling the robot recycling vehicle to recycle the first robot may further perform the following steps: determining the center point of the task end position corresponding to the multiple third robots as the initial recycling point; in response to the remaining power of the multiple third robots being greater than or equal to the power required to reach the initial recycling point, determining the initial recycling point as the first recycling point.

[0097] In the embodiments of this application, if the remaining power of the first robot is insufficient to reach the recycling location, but it can reach the initial recycling point, multiple third robots can be brought to the initial recycling point to recycle the multiple third robots, thereby realizing the recycling of the first robot.

[0098] In the embodiments of this application, if there are multiple third robots, the center point of the task end position corresponding to the multiple third robots is determined as the initial recycling point, and the multiple third robots are recycled based on the initial recycling point, which can also improve the recycling efficiency of the recycling equipment in recycling multiple third robots, thereby improving the efficiency of robot recycling.

[0099] In the embodiments of this application, if the remaining power of the fourth robot among the multiple third robots also prevents it from reaching the initial recycling point, a new first recycling point can be planned based on the remaining power of the fourth robot and its task end position, as well as the task end positions of the other third robots among the multiple third robots. Then, multiple third robots can be recycled at the first recycling point to achieve the recycling of the first robot.

[0100] In the embodiments of this application, it is also possible to first recycle the fourth robot with insufficient remaining power based on the control recycling device, and then recycle the other third robots among the multiple third robots at the initial recycling point. Of course, the initial recycling point at this time can be the recycling point updated based on the task end position of the other third robots among the multiple third robots excluding the fourth robot.

[0101] In this way, every robot can be recycled while improving recycling efficiency.

[0102] In some embodiments, when the robotic recycling device performs step S102 as described above, Figure 4 As shown, the following steps S401 and S402 can also be performed:

[0103] Step S401: Obtain the predicted remaining power of each of the multiple robots.

[0104] In the embodiments of this application, the predicted remaining battery power can be calculated based on the current battery power, task execution progress, and an estimated energy consumption model, representing the remaining battery energy of the robot after completing the current task. The predicted remaining battery power can be collected by a built-in battery sensor and dynamically estimated using a task path planning algorithm. The predicted remaining battery power is typically expressed as a percentage or in milliampere-hours (mAh).

[0105] In the embodiments of this application, by obtaining the predicted remaining power of each of the multiple robots, it is possible to assess whether the predicted remaining power of each robot is sufficient to reach the designated recycling location. For example, if the current predicted remaining power of a robot is insufficient to support its autonomous movement to the recycling location, the robot recycling equipment can transport the robot along with it en route to the recycling location, thereby avoiding the problem of the robot being unable to return due to insufficient predicted remaining power.

[0106] In this embodiment, by obtaining the predicted remaining battery power of each of the multiple robots, the endurance of each robot after completing the task can be accurately determined, thus providing key input parameters for subsequent recovery path planning. This approach effectively avoids the problem of some robots failing to recover properly due to insufficient predicted remaining battery power, thereby improving overall recovery efficiency and reliability, and further enabling a more intelligent and flexible post-task processing workflow.

[0107] Step S402: Determine the recycling location based on multiple predicted completion times and multiple predicted remaining power.

[0108] In the embodiments of this application, if the current predicted remaining power of a robot is insufficient to support the robot to move autonomously to the recycling location, the robot recycling equipment can not only transport the robot to the recycling location along with it on the way, but also re-plan the recycling location based on multiple predicted completion times and multiple predicted remaining power.

[0109] In the embodiments of this application, the method of replanning the recycling location based on multiple predicted completion times and multiple predicted remaining power can be based on a multi-objective optimization model, a mixed integer linear programming algorithm, or an improved A* algorithm to plan the optimal recycling location.

[0110] In the embodiments of this application, the robot recycling device can also determine the recycling location based on the target robot's task completion location and the predicted remaining power. The above-mentioned algorithm and model can also be selected as an exemplary method of determination.

[0111] In the embodiments of this application, the robot recycling device determines the recycling location based on the target robot's task completion position and the predicted remaining power. If other robots among the multiple robots can reach the recycling location for recycling, the recycling device is controlled to recycle all robots at the recycling location. If other robots among the multiple robots cannot reach the recycling location due to insufficient remaining power, the recycling device can be controlled to first recycle the robots with insufficient remaining power, and then recycle the remaining robots at the recycling location.

[0112] In this way, by obtaining the predicted remaining power of each of the multiple robots and combining it with the predicted completion time, the recycling location can be reasonably determined, thereby achieving efficient recycling management of the multi-robot system.

[0113] In some embodiments, when the robotic recycling device performs step S102 as described above, Figure 5 As shown, the following steps S501 and S502 can also be performed:

[0114] Step S501: Obtain the travel speed information of each robot among the multiple robots.

[0115] In the embodiments of this application, the robot recovery device can obtain the travel speed information of each of the multiple robots. Travel speed information refers to the speed data of each robot's movement, typically expressed as the distance traveled per unit time, such as meters per second (m / s) or kilometers per hour (km / h). The robot recovery device can acquire travel speed information through the robot's built-in motion sensors, wheel speedometers, or other positioning systems, and use this information to evaluate the time it takes for the robot to reach the recovery location along different paths. By acquiring the travel speed information of each robot, the robot recovery device can more accurately predict the time required for the robot to reach the designated location, thereby optimizing the overall scheduling strategy.

[0116] Step S502: Determine the recovery location based on multiple predicted completion times and multiple travel speed information.

[0117] In the embodiments of this application, the predicted completion time refers to the time when each robot is expected to complete its current task and be retrievable, while the travel speed information determines the time required for the robot to travel from its current location to the recycling location. The robot recycling device integrates these data to calculate the most suitable meeting point for all robots, so that the unmanned vehicle and each robot can converge at a common point in the shortest possible time, reducing the total recycling time.

[0118] For example, if multiple robots complete a task simultaneously, the robot retrieval device calculates the geometric center point of each robot's position and uses this point as the retrieval location. Other robots and the retrieval device then proceed to this geometric center point to wait for the last robot to complete its task. However, if the travel speed of each robot is taken into account, the retrieval location may not be the geometric center point of the task completion positions of the robots that completed the task simultaneously. Instead, the retrieval location might be biased towards the task completion position of the slower-moving robot. This is to ensure that the positions of the multiple robots arriving at the retrieval location are as even as possible, thus reducing the retrieval time and maximizing retrieval efficiency.

[0119] In this way, by acquiring the travel speed information of each robot and combining it with the predicted completion time to determine the optimal recycling location, the coordination efficiency between the unmanned vehicle and each robot can be improved, the overall recycling time can be shortened, and the overall performance and resource utilization of the task can be improved.

[0120] In the embodiments of this application, since the remaining power also affects the robot's travel speed information, the actual travel speed information of robots with sufficient power and robots with insufficient power may be different. At this time, the travel speed information of each robot among multiple robots, the predicted completion time, and the remaining power can be comprehensively considered to plan the recycling location. Of course, the recycling location can also be planned based on other factors that affect the arrival time.

[0121] In some embodiments, the robot recycling device may also perform the following steps: in response to a change in the predicted completion time of a task performed by one of the multiple robots, update the recycling location based on the changed predicted completion time.

[0122] In the embodiments of this application, during the execution of tasks by multiple robots, the predicted completion time of some robots' tasks may change due to the influence of task progress, environmental changes, or other external factors. For example, the predicted completion time of a robot's task may be extended due to path obstruction or battery depletion, thus changing the predicted completion time of that robot's task. After detecting a change in the predicted completion time of a task performed by one of the multiple robots, the robot recovery device can recalculate the predicted completion time of that robot's task and dynamically adjust the recovery location based on the latest predicted completion time information, thereby optimizing and reducing the overall system recovery time.

[0123] In the embodiments of this application, the predicted completion time refers to the estimated time when each robot is expected to complete the task in the current task state. Since the predicted completion time is estimated based on factors such as task progress, task complexity, and remaining resources (such as battery power), the predicted completion time may change during the robot recycling process. Thus, the recycling location determined before the change will no longer be the optimal recycling location. Therefore, it is necessary to update the recycling location based on the changed predicted completion time.

[0124] For example, changes in the robot's predicted completion time may be triggered by abnormal events during the robot's task execution, such as task interruption, path planning failure, or equipment malfunction. Of course, changes in the predicted completion time may also be due to improved task efficiency, early task completion, or other factors.

[0125] In the embodiments of this application, there is a close correlation between the predicted completion time and the updated recycling location. When the predicted completion time of a robot's task changes significantly, the entire recycling strategy needs to be reassessed, and the recycling location adjusted accordingly. This avoids an increase in overall recycling time due to a fixed recycling location setting. The robot recycling equipment can adapt to uncertainties during task execution in real time, thereby optimizing the scheduling path of the recycling equipment and improving the coordination efficiency between task execution and recycling location updates.

[0126] In this way, the recycling locations are determined by the dynamic changes in the predicted completion time. The robotic recycling equipment can continuously monitor the status of each robot's task execution and immediately trigger a mechanism to update the recycling location when it detects a change in the predicted completion time of a robot's task. This dynamic response mechanism enables the recycling equipment to plan more efficient recycling locations in real time within a constantly changing task environment, thereby achieving efficient scheduling and management of multi-robot systems.

[0127] An exemplary robot recycling method includes the following steps: obtaining the predicted completion time of the task performed by each of a plurality of robots; identifying the plurality of robots whose predicted completion time meets preset conditions as target robots, and determining the recycling location based on the task completion position of the plurality of target robots; responding to the fact that the remaining power of a first robot among the plurality of robots is less than the power required to reach the recycling location, controlling the recycling equipment to recycle the first robot and then proceeding to the recycling location; controlling the recycling equipment to recycle the plurality of robots at the recycling location.

[0128] Another exemplary robot recycling method includes the following steps: obtaining the predicted completion time, predicted remaining battery power, or travel speed information of each of the multiple robots performing a task; determining a recycling location based on the multiple predicted completion times, multiple predicted remaining battery power, or multiple travel speed information; responding to the fact that the remaining battery power of a first robot among the multiple robots is less than the required battery power to reach the recycling location; controlling the recycling device to recycle the first robot and then proceeding to the recycling location; controlling the recycling device to recycle the multiple robots at the recycling location.

[0129] Another exemplary robot retrieval method includes the following steps S1 to S4: S1, obtaining the task completion time for each robot (corresponding to the predicted completion time discussed above); S2, the robots and unmanned vehicles that complete the task first (corresponding to the retrieval equipment discussed above) travel together to the location of the robot that completes the task last (corresponding to the retrieval location discussed above); S3, if multiple robots complete the task simultaneously, the geometric center of these robots is calculated, and other robots and unmanned vehicles travel to this geometric center, waiting for the robot that completes the task last to travel to the geometric center after completing its task; S4, considering the robot's battery power, if the battery is insufficient to reach the rendezvous point, the unmanned vehicle carries it to the rendezvous point (corresponding to the retrieval location discussed above). This effectively shortens the retrieval efficiency of the unmanned vehicle retrieval robot.

[0130] This application provides a robot recycling method, which includes: obtaining the predicted completion time of a task performed by each of a plurality of robots; determining a recycling location based on the multiple predicted completion times; controlling the robots that have completed their tasks to proceed to the recycling location; and controlling a recycling device to recycle the multiple robots at the recycling location. The robot recycling method provided in this application, by obtaining the predicted completion time of each robot's task, determining the optimal recycling location, and rationally scheduling the robots that have completed their tasks with the recycling device, achieves efficient and centralized robot recycling, effectively solving the problem of low robot recycling efficiency in related technologies and improving the overall operating efficiency of multiple robots.

[0131] This application provides a robotic recycling device 6, such as... Figure 6 As shown, it includes:

[0132] The acquisition module 61 is used to acquire the predicted completion time of the task performed by each of the multiple robots;

[0133] Module 62 is used to determine the recycling location based on multiple predicted completion times;

[0134] Control module 63 is used to control the robot, after completing the task, to proceed to the recycling location;

[0135] The control module 63 is also used to control the recycling equipment to recycle the plurality of robots at the recycling location.

[0136] In one embodiment of this application, the determining module 62 is further configured to determine a target robot from the plurality of robots based on the predicted completion time, determine the recycling location based on the task completion location of the target robot, and determine the recycling location from a plurality of preset recycling locations based on the predicted completion time.

[0137] In one embodiment of this application, the determining module 62 is further configured to determine a plurality of robots whose predicted completion time meets a preset condition from among the plurality of robots as target robots, and determine the recycling location based on the task end position of the plurality of target robots; and determine the robot with the latest predicted completion time from among the plurality of robots as target robot, and determine the task end position of the target robot as the recycling location.

[0138] In one embodiment of this application, the control module 63 is further configured to, in response to the fact that the remaining power of a first robot among the plurality of robots is less than the power required to reach the recycling location, control the recycling device to recycle the first robot and then proceed to the recycling location.

[0139] In one embodiment of this application, the determining module 62 is further configured to obtain the predicted remaining power of each of the plurality of robots; and determine the recycling location based on the plurality of predicted completion times and the plurality of predicted remaining power.

[0140] In one embodiment of this application, the determining module 62 is further configured to obtain the travel speed information of each of the plurality of robots; and determine the recovery location based on the plurality of predicted completion times and the plurality of travel speed information.

[0141] In one embodiment of this application, the determining module 62 is further configured to update the recycling location based on the changed predicted completion time of a task performed by one of the plurality of robots in response to a change in the predicted completion time of the task performed by the robot.

[0142] This application provides a robotic recycling device 7, such as... Figure 7 As shown, the robotic recycling equipment includes:

[0143] Processor 71 is used to obtain the predicted completion time of the task performed by each of the multiple robots; and to determine the recycling location based on the multiple predicted completion times.

[0144] The transmitter 72 sends the recycling location to multiple robots, and controls the robots that have completed the task to go to the recycling location.

[0145] The transmitter 72 is also used to send the recycling location to the recycling equipment and control the recycling equipment to recycle multiple robots at the recycling location.

[0146] In the embodiments of this application, the processor 71 is the core computing unit for the operation of the robot recycling equipment, responsible for data acquisition, logical judgment, and decision-making. The processor's function is to predict the task completion time based on the current task progress of each robot, and, combined with the task completion time distribution, comprehensively determine an optimal recycling location. For example, when multiple robots complete their tasks simultaneously, the processor 71 can calculate the geometric center of these robots as a rendezvous point, thereby reducing the overall recycling time and improving efficiency.

[0147] In the embodiments of this application, the processor 71 dynamically adjusts the recycling strategy by collecting the task status information of each robot in real time, making the recycling process more intelligent and efficient, and avoiding the time waste caused by traditional fixed-location recycling.

[0148] In the embodiments of this application, after the processor 71 determines the recycling location, it sends the recycling location to each of the multiple robots via a transmitter, controlling the robot that has completed its task to proceed to the recycling location. The transmitter 72 supports multiple communication protocols, such as Wi-Fi, Bluetooth, and 4G / 5G, to adapt to the connectivity needs of different scenarios.

[0149] In the embodiments of this application, the transmitter 72 accurately sends the recycling location to each robot, ensuring that each robot can respond quickly and go to the recycling location according to the planned path, reducing unnecessary waiting time and energy consumption, and improving collaborative efficiency.

[0150] In the embodiments of this application, the transmitter 72 is also used to send the same information to the recycling equipment, enabling the recycling equipment to be deployed in advance at the recycling location, ready to receive the arriving robot. The mechanism of the transmitter simultaneously sending information to both the robot and the recycling equipment achieves synchronous coordination between them, improving the overall efficiency of the recycling operation. The embodiments of this application, by uniformly scheduling the robot and the recycling equipment, effectively avoid the inefficiency caused by traditional unmanned vehicles performing recycling operations one by one or waiting for recycling at fixed locations. At the same time, it significantly reduces the total time consumed in the entire recycling process. The advantages of this scheduling method are even more prominent when facing large-scale robot clusters working collaboratively, enabling more efficient task allocation and resource utilization.

[0151] This application provides a robot recycling device that acquires the predicted completion time of each robot's task among multiple robots; determines a recycling location based on multiple predicted completion times; controls the robots that have completed their tasks to proceed to the recycling location; and controls the recycling device to collect the multiple robots at the recycling location. The robot recycling device provided in this application, by acquiring the predicted completion time of each robot's task, determines the optimal recycling location, and rationally schedules the robots that have completed their tasks with the recycling device, achieving efficient and centralized robot recycling. This effectively solves the problem of low robot recycling efficiency in related technologies and improves the overall operating efficiency of multiple robots.

[0152] This application provides a robot 8, including:

[0153] A first receiver 81 is used to receive a recycling location sent by a robot recycling device; the recycling location is a location determined by the robot recycling device based on multiple predicted completion times; the predicted completion time is the predicted completion time for the robot to perform the task.

[0154] A first actuator 82 is configured to travel to the recycling location so that a recycling device can recycle the robot at the recycling location.

[0155] In the embodiments of this application, the first receiver 81 is a communication module deployed in the robot, used to receive instruction data sent from the robot's recycling equipment, including the recycling location. The first receiver can support wired or wireless communication protocols, such as Wi-Fi, Bluetooth, 4G / 5G, etc., to ensure stable signal reception even in complex environments. The first actuator 82 refers to an execution module with autonomous mobility, typically integrated on the robot, responsible for moving to the designated location according to instructions. The first actuator can perform path planning and motion control based on various methods such as GPS positioning, LiDAR navigation, and visual recognition, ensuring that the robot can reach the recycling location efficiently and safely.

[0156] In the embodiments of this application, the determination of the recycling location has been discussed in detail above, and will not be repeated here.

[0157] This application provides a recycling device 9, including:

[0158] The second receiver 91 is used to receive the recycling location sent by the robot recycling device; the recycling location is a location determined by the robot recycling device based on multiple predicted completion times; the predicted completion time is the predicted completion time of the robot's task.

[0159] The second actuator 92 is used to travel to the recycling location and retrieve multiple robots at the recycling location.

[0160] In the embodiments of this application, the second receiver 91 is a communication module on the recycling device, used to receive the recycling location calculated by the robot recycling device. The second receiver 91 is typically integrated into the recycling device and can interact with each robot or the robot recycling device via wireless communication protocols (such as Wi-Fi, Bluetooth, 5G, etc.). The main function of the second receiver 91 is to ensure that the recycling location information is accurately received and used as the basis for subsequent path planning and execution.

[0161] In the embodiments of this application, the second actuator 92 is the core component for performing the retrieval action, typically including a navigation system, a drive system, and a gripping / loading device. The function of the second actuator 92 is to automatically plan a route and drive to the target location after receiving the retrieval location determined by the robot retrieval equipment based on multiple predicted completion times, and then perform retrieval operations on multiple robots according to a preset program. The retrieval method can be various forms such as robotic arm gripping, magnetic fixation, and carrier loading, depending on the robot's structural design and application scenario.

[0162] In the embodiments of this application, the second actuator 92 can select the most suitable recycling method according to the needs of different scenarios. For example, in an outdoor environment, the recycling equipment can use a robotic arm to load the robot into the vehicle compartment; while in an indoor environment, the recycling equipment may use a sliding rail storage device for automated collection. In addition, if some robots are unable to move on their own due to insufficient power, the second actuator 92 can actively approach these robots and bring them back to the recycling location calculated by the robot recycling equipment based on multiple predicted completion times.

[0163] This application provides a computer-readable storage medium storing one or more computer programs that can be executed by one or more processors to implement the above-described robot recycling method. The computer-readable storage medium can be transient or non-transient.

[0164] This application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied as a computer storage medium; in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0165] In some embodiments, the storage medium may be a computer-readable storage medium, which may be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), solid-state drive (SSD), ferromagnetic random access memory (FRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic surface memory, optical disk, or compact disk-read-only memory (CD-ROM); or it may be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0166] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0167] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0168] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0169] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0170] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0171] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file containing other programs or data, for example, in one or more scripts within a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files storing one or more modules, subroutines, or code sections). As an example, executable instructions may be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0172] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

[0173] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0174] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not performed.

[0175] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A robot recycling method, the method comprising: Obtain the predicted completion time of the task for each of the multiple robots; The recovery location is determined based on multiple predicted completion times; The robot, having completed its task, is directed to proceed to the recycling location. The control and recycling equipment retrieves the multiple robots at the recycling location.

2. The robot recycling method according to claim 1, wherein determining the recycling location based on a plurality of predicted completion times includes at least one of the following: The target robot is determined from the plurality of robots based on the predicted completion time, and the recovery location is determined based on the task completion location of the target robot. The recycling location is determined from multiple preset recycling locations based on the predicted completion time.

3. The method according to claim 2, wherein determining the target robot from the plurality of robots based on the predicted completion time, and determining the recovery location based on the task completion location of the target robot, comprises at least one of the following: The target robots are determined from the multiple robots whose predicted completion time meets the preset conditions, and the recycling location is determined according to the task completion position of the multiple target robots. The robot with the latest predicted completion time among the multiple robots is identified as the target robot, and the task completion location of the target robot is identified as the recycling location.

4. The robot recycling method according to claim 1, wherein controlling the plurality of robots to proceed to the recycling location includes: In response to the fact that the remaining power of a first robot among the plurality of robots is less than the power required to reach the recycling location, the recycling equipment is controlled to retrieve the first robot and then proceed to the recycling location.

5. The robot recycling method according to claim 1, wherein determining the recycling location based on multiple predicted completion times includes: Obtain the predicted remaining battery power for each of the multiple robots; The recovery location is determined based on multiple predicted completion times and multiple predicted remaining power.

6. The robot recycling method according to claim 1, wherein determining the recycling location based on a plurality of predicted completion times includes: Obtain the travel speed information of each of the multiple robots; The recovery location is determined based on multiple predicted completion times and multiple travel speed information.

7. The robot recycling method according to any one of claims 1 to 6, the method further comprising: In response to a change in the predicted completion time of a task performed by one of the robots, the recovery location is updated based on the changed predicted completion time.

8. A robotic recycling device, comprising: A processor is used to obtain the predicted completion time of the task performed by each of the multiple robots; The recovery location is determined based on multiple predicted completion times; The transmitter sends the recycling locations to the multiple robots, and controls the robots that have completed their tasks to proceed to the recycling locations. The transmitter is also used to send the recycling location to the recycling equipment and control the recycling equipment to recycle the plurality of robots at the recycling location.

9. A robot, comprising: A first receiver is used to receive a recycling location sent by a robot recycling device; the recycling location is a location determined by the robot recycling device based on multiple predicted completion times; the predicted completion time is the predicted completion time for the robot to perform the task. A first actuator is used to travel to the recycling location so that a recycling device can retrieve the robot at the recycling location.

10. A recycling device, comprising: The second receiver is used to receive the recycling location sent by the robot recycling device; the recycling location is a location determined by the robot recycling device based on multiple predicted completion times; the predicted completion time is the predicted completion time of the robot's task. A second actuator is used to travel to the recycling location and retrieve multiple of the robots at the recycling location.

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