Systems and methods for robotic fleet management

Abstract

In an embodiment of the method of operating a robotic fleet management system, the robotic fleet management system obtains a set of tasks available for execution by a robotic fleet, obtains a respective power consumption for each task in the set of tasks, and obtains a respective power status for each robot in the fleet. The robotic fleet management system assigns at least a selected robot to a selected task based at least in part on the power status of the selected robot and the power consumption of the selected task. The power consumption can be determined by the robotic fleet management system and / or provided by a task provider. The set of tasks includes tethered tasks and non-tethered tasks. After determining that the selected robot has sufficient power to complete a non-tethered task, the robotic fleet management system assigns the selected robot to the non-tethered task.

Description

Technical Field

[0001] The systems and methods of this invention generally relate to robot fleet management, and more particularly to the efficient allocation of mobile robots to tethered and untethered tasks in an environment.

[0002] background Robots are machines that can assist or replace humans. They can be used in a wide variety of applications, including construction, manufacturing, monitoring, exploration, learning, and entertainment. For example, robots can be used in dangerous or uninhabitable environments. In these applications, robots can be assigned tasks.

[0003] Some robots require user input and can be operated by humans. Other robots possess a degree of autonomy and, in at least some cases, can operate without human intervention. Some autonomous or semi-autonomous robots are designed to mimic human behavior. Autonomous or semi-autonomous robots are particularly useful in applications where robots (e.g., general-purpose robots) need to operate for extended periods without operator intervention, navigate their operating environment, and / or adapt to changing conditions.

[0004] Brief Overview The operation method of the robot fleet management system can be summarized as including: the robot fleet management system accessing (e.g., receiving) a set of tasks available for execution by the robot fleet; the robot fleet management system acquiring (e.g., determining) the corresponding power consumption of each task in the task set; the robot fleet management system acquiring the corresponding power state of each robot in the robot fleet; and the robot fleet management system assigning a first robot to a first task based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set.

[0005] In some implementations, assigning a first robot in a robot fleet to a first task in a task set by a robot fleet management system includes: assigning the first robot in a robot fleet to a first task in a task set by the robot fleet management system based at least in part on the respective power state of each robot in the robot fleet and the respective power consumption of each task in the task set.

[0006] In some implementations, the set of tasks that can be performed by the robot fleet management system is acquired (e.g., received) by the robot fleet management system includes a set of tasks that includes at least one tethered task and at least one untethered task.

[0007] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the first robot has sufficient power to complete an untethered task selected from at least one untethered task, and the robot fleet management system assigning the first robot to the selected untethered task.

[0008] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power state of the first robot is above an upper limit threshold, and the robot fleet management system assigning the first robot in the robot fleet to a non-tethered task selected from at least one non-tethered task.

[0009] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power of the first robot is insufficient to complete an untethered task selected from at least one untethered task, and the robot fleet management system assigning the first robot to a tethered task selected from at least one tethered task.

[0010] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power of the first robot is insufficient to complete any non-tethered task selected from at least one non-tethered task, and the robot fleet management system assigning the first robot to a tethered task selected from at least one tethered task.

[0011] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power state of the first robot is below a lower threshold, and the robot fleet management system assigning the first robot in the robot fleet to a tethered task selected from at least one tethered task.

[0012] The method may also include the replenishment of power to the first robot by the robot fleet management system during the first robot's tethered task.

[0013] In some implementations, the robot fleet management system acquiring (e.g., determining) the corresponding power consumption for each task in the task set includes: acquiring (e.g., determining) the corresponding power consumption based at least in part on the power expected to be drawn from a power source by the robots in the robot fleet to complete each task in the task set. Acquiring (e.g., determining) the corresponding power consumption based at least in part on the power expected to be drawn from a power source by the robots in the robot fleet to complete each task in the task set may include: acquiring (e.g., determining) the corresponding power consumption based at least in part on the expected power to be drawn from a battery mounted on a battery-powered robot in the robot fleet.

[0014] In some implementations, obtaining (e.g., determining) the power consumption of each task in the task set by the robot fleet management system includes obtaining (e.g., determining) the power consumption based at least in part on the historical power consumption data of each task in the task set.

[0015] In some implementations, the robot fleet management system obtains (e.g., determines) the corresponding power consumption of each task in the task set, including at least one of a corresponding power consumption score and a power consumption category for each task in the task set.

[0016] In some implementations, obtaining the corresponding power status of each robot in the robot fleet from the robot fleet management system includes obtaining the corresponding state of charge of the onboard battery of each robot in the robot fleet from the robot fleet management system.

[0017] In some implementations, obtaining the corresponding power state of each robot in the robot fleet by the robot fleet management system includes: obtaining (e.g., determining) the corresponding power state of each robot based at least in part on the corresponding cumulative power consumption of each robot for at least one completed task in at least one non-tethered task.

[0018] In some embodiments, the method further includes: assigning a second robot to a second task by a robot fleet management system based at least in part on the corresponding power state of at least a second robot in the robot fleet and the corresponding power consumption of at least a second task in the task set. Assigning a second robot in the robot fleet to a second task in the task set by the robot fleet management system may include: assigning a second robot in the robot fleet to a second task in the task set based at least in part on the corresponding power state of each robot in the robot fleet and the corresponding power consumption of each task in the task set.

[0019] The set of tasks available for execution by the robot fleet, obtained (e.g., received) by the robot fleet management system, may include: obtaining (e.g., receiving) a set of tasks comprising at least one tethered task and at least one untethered task, and assigning a first robot in the robot fleet to a first task in the set of tasks by the robot fleet management system; and assigning a second robot in the robot fleet to a second task in the set of tasks by the robot fleet management system, and including: obtaining (e.g., determining) that the power state of the first robot is lower than that of the second robot by the robot fleet management system; assigning a tethered task selected from at least one tethered task to the first robot by the robot fleet management system; and assigning an untethered task selected from at least one untethered task to the second robot by the robot fleet management system.

[0020] In some implementations, assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: assigning the first robot to the first task by the robot fleet management system based at least in part on the priority of the first task relative to other tasks in the task set and the maintenance conditions of the first robot.

[0021] In some implementations, assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: the robot fleet management system assigning the first task in the task set to the first robot in the robot fleet in real time.

[0022] In some implementations, the set of tasks that the robot fleet management system acquires (e.g., receives) and that can be performed by the robot fleet includes: the set of tasks that the robot fleet management system acquires (e.g., receives) and that can be performed by the robot fleet deployed in a public environment in that public environment.

[0023] In some implementations, the robot fleet management system acquires (e.g., receives) a set of tasks that can be performed by the robot fleet, including: acquiring (e.g., receiving) a set of tasks that includes: a first set of tasks that can be performed by at least a first robot in the robot fleet in a first environment, and a second set of tasks that can be performed by at least a second robot in the robot fleet in a second environment.

[0024] A robot fleet management system can be summarized as including at least one processor and at least one non-transitory processor-readable storage medium communicatively coupled to the at least one processor, the at least one non-transitory processor-readable storage medium storing processor-executable instructions and / or data, which, when executed by the at least one processor, cause the robot fleet management system to perform an operation method of the robot fleet management system, wherein the operation method includes: obtaining (e.g., receiving) a list or set of tasks available for execution by the robot fleet; obtaining (e.g., determining) a corresponding power consumption of each task in the task list or task set; obtaining a corresponding power state of each robot in the robot fleet; and assigning a first robot to a first task based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task list or task set.

[0025] In some implementations, assigning a first robot in a robot fleet to a first task in a task set by a robot fleet management system includes: assigning the first robot in a robot fleet to a first task in a task set by the robot fleet management system based at least in part on the respective power state of each robot in the robot fleet and the respective power consumption of each task in the task set.

[0026] In some implementations, the set of tasks that can be performed by the robot fleet management system is acquired (e.g., received) by the robot fleet management system includes: a set of tasks that includes at least one tethered task and at least one untethered task.

[0027] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the first robot has sufficient power to complete an untethered task selected from at least one untethered task, and the robot fleet management system assigning the first robot to the selected untethered task.

[0028] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power state of the first robot is above an upper limit threshold, and the robot fleet management system assigning the first robot in the robot fleet to a non-tethered task selected from at least one non-tethered task.

[0029] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power of the first robot is insufficient to complete an untethered task selected from at least one untethered task, and the robot fleet management system assigning the first robot to a tethered task selected from at least one tethered task.

[0030] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power of the first robot is insufficient to complete any non-tethered task selected from at least one non-tethered task, and the robot fleet management system assigning the first robot to a tethered task selected from at least one tethered task.

[0031] Assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set may include: the robot fleet management system determining that the power state of the first robot is below a lower threshold, and the robot fleet management system assigning the first robot in the robot fleet to a tethered task selected from at least one tethered task.

[0032] The operation method may also include the robot fleet management system initiating the power supply replenishment of the first robot during the first robot's tethered task.

[0033] In some implementations, the robot fleet management system acquiring (e.g., determining) the corresponding power consumption for each task in the task set includes: acquiring (e.g., determining) the corresponding power consumption based at least in part on the power expected to be drawn from a power source by the robots in the robot fleet to complete each task in the task set. Acquiring (e.g., determining) the corresponding power consumption based at least in part on the power expected to be drawn from a power source by the robots in the robot fleet to complete each task in the task set may include: acquiring (e.g., determining) the corresponding power consumption based at least in part on the expected power to be drawn from a battery mounted on a battery-powered robot in the robot fleet.

[0034] In some implementations, obtaining (e.g., determining) the power consumption of each task in the task set by the robot fleet management system includes obtaining (e.g., determining) the power consumption based at least in part on the historical power consumption data of each task in the task set.

[0035] In some implementations, the robot fleet management system obtains (e.g., determines) the corresponding power consumption of each task in the task set, including at least one of a corresponding power consumption score and a power consumption category for each task in the task set.

[0036] In some implementations, obtaining the corresponding power status of each robot in the robot fleet from the robot fleet management system includes obtaining the corresponding state of charge of the onboard battery of each robot in the robot fleet from the robot fleet management system.

[0037] In some implementations, obtaining the corresponding power state of each robot in the robot fleet by the robot fleet management system includes: obtaining (e.g., determining) the corresponding power state of each robot based at least in part on the corresponding cumulative power consumption of each robot for at least one completed task in at least one non-tethered task.

[0038] In some embodiments, the method further includes: assigning a second robot to a second task by a robot fleet management system based at least in part on the corresponding power state of at least a second robot in the robot fleet and the corresponding power consumption of at least a second task in the task set. Assigning a second robot from the robot fleet to a second task in the task set by the robot fleet management system may include: assigning a second robot from the robot fleet to a second task in the task set based at least in part on the corresponding power state of each robot in the robot fleet and the corresponding power consumption of each task in the task set.

[0039] The set of tasks that can be performed by the robot fleet can be obtained (e.g., received) by the robot fleet management system may include: the robot fleet management system obtaining (e.g., receiving) a set of tasks including at least one tethered task and at least one untethered task, and the robot fleet management system assigning a first robot in the robot fleet to a first task in the set of tasks, and the robot fleet management system assigning a second robot in the robot fleet to a second task in the set of tasks may include: the robot fleet management system determining that the power state of the first robot is lower than that of the second robot, the robot fleet management system assigning a tethered task selected from at least one tethered task to the first robot, and the robot fleet management system assigning an untethered task selected from at least one untethered task to the second robot.

[0040] In some implementations, assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: assigning the first robot to the first task by the robot fleet management system based at least in part on the priority of the first task relative to other tasks in the task set and the maintenance conditions of the first robot.

[0041] In some implementations, assigning a first robot to a first task by a robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: the robot fleet management system assigning the first task in the task set to the first robot in the robot fleet in real time.

[0042] In some implementations, the set of tasks that the robot fleet management system acquires (e.g., receives) and that can be performed by the robot fleet includes: the set of tasks that the robot fleet management system acquires (e.g., receives) and that can be performed by the robot fleet deployed in a public environment in that public environment.

[0043] In some implementations, the robot fleet management system acquires (e.g., receives) a set of tasks that can be performed by the robot fleet, including: acquiring (e.g., receiving) a set of tasks that includes: a first set of tasks that can be performed by at least a first robot in the robot fleet in a first environment, and a second set of tasks that can be performed by at least a second robot in the robot fleet in a second environment.

[0044] Brief description of several attached views The various elements and actions depicted in the accompanying drawings are provided for illustrative purposes to support detailed description. Unless the specific context requires otherwise, the size, shape, and relative position of the elements and actions shown are not necessarily displayed to scale and are not necessarily intended to convey any information or limitation. Generally, the same reference numerals are used to identify similar elements or actions.

[0045] Figure 1 This is a schematic diagram illustrating an example embodiment of a robot fleet management system according to the system, apparatus, and method of the present invention.

[0046] Figure 2 According to the system, apparatus and method of the present invention Figure 1 A block diagram of an example implementation of a robot fleet management system.

[0047] Figure 3 This is a robot fleet management system (e.g., according to the system, apparatus and method of the present invention) Figure 1 and Figure 2 A block diagram of an example implementation of the controller for a robot fleet management system.

[0048] Figure 4 The system, apparatus and method according to the present invention include a robot fleet management system (e.g., Figure 1 and Figure 2 A schematic diagram of the environment of a robot fleet management system.

[0049] Figure 5 It is a fleet of robots (e.g., according to the system, device and method of the present invention) Figure 1 A schematic diagram illustrating an example implementation of a robot in a robot fleet.

[0050] Figure 6 It is a fleet of robots (e.g., according to the system, device and method of the present invention) Figure 1 A schematic diagram of another example implementation of the robots in a robot fleet.

[0051] Figure 7 This is a robot fleet management system (e.g., according to the system, apparatus and method of the present invention) Figure 1 and Figure 2 A flowchart illustrating an example implementation of the operation method of a robot fleet management system.

[0052] Figure 8A , Figure 8B , Figure 8C and Figure 8D This is a robot fleet management system (e.g., according to the system, apparatus and method of the present invention) Figure 1 and 2 A flowchart illustrating an example implementation of an operation method for a robot fleet management system, used to assign robots in a robot fleet to tasks in a task set.

[0053] Figure 9 This is a block diagram of an example embodiment of a power station for mooring tasks according to the system, apparatus and method of the present invention.

[0054] Figure 10 This is a schematic diagram of another example embodiment of a robot fleet management system according to the system, apparatus and method of the present invention.

[0055] Detailed description The following description sets forth specific details to illustrate and provide an understanding of various implementations and embodiments of the systems, devices, and methods of the present invention. Those skilled in the art will understand that some of the specific details described herein may be omitted or modified in alternative implementations and embodiments, and that the various implementations and embodiments described herein may be combined with each other and / or with other methods, components, materials, etc., to produce further implementations and embodiments.

[0056] In some cases, well-known structures and / or processes associated with computer systems and data processing are not shown or provided in detail in order to avoid unnecessarily complicating or obscuring the description of implementation methods and embodiments.

[0057] Unless the specific context requires otherwise, throughout this specification and the appended claims, the term “comprise” and its variations (e.g., “comprises” and “comprising”) are used in an open, inclusive sense to mean “including, but not limited to”. Unless the specific context requires otherwise, throughout this specification and the appended claims, the singular forms “a,” “an,” and “the” include the plural referents. For example, references to “an embodiment” and “the embodiment” respectively include “embodiments” and “the embodiments,” and references to “an implementation” and “the implementation” respectively include “implementations” and “the implementations.” Similarly, unless the specific context expressly specifies otherwise, the term “or” is generally used in its broadest sense to mean “and / or.”

[0058] The headings and abstracts of this disclosure are provided for convenience only and are not intended to, nor should they be construed as, defining the scope or meaning of the systems, apparatus, and methods of the present invention.

[0059] Robots typically include or are coupled to at least one power source. Typically, a robot includes or is electrically coupled to a power source. A hydraulic robot may include motors, pumps, sensors, controllers, and / or processors powered by one or more power sources.

[0060] Some robots are mobile and can move from one task to another within their environment. Some tasks can be tethered, where the robot is tethered to a power source for at least a portion of the task's duration. Other tasks can be untethered. For untethered tasks, the robot can rely on an onboard power source. Onboard power sources can be, for example, batteries, fuel cells, or supercapacitors. Some onboard power sources rely on charge or fuel that depletes over time and therefore require periodic charging, replenishment, and / or replacement.

[0061] A robot fleet may include robots operable to perform one or more tasks. In some embodiments, the robots in the fleet have the same brand and model. In some embodiments, the robots in the fleet include general-purpose robots. In some embodiments, the robot fleet includes at least one specialized robot.

[0062] One or more tasks to be performed by robots in a robot fleet can be performed simultaneously, sequentially, in the same environment, or in different environments. Environments can include, for example, locations, facilities, and / or workplaces.

[0063] The robots in a fleet may not have exactly the same specifications, functions, and / or operational capabilities as each other. A robot fleet may include auxiliary systems and / or equipment that can be shared by the robots in the fleet and used for task execution. Assigning robots to tasks by a robot fleet management system may include assigning auxiliary systems and / or equipment to tasks individually or in conjunction with robot assignment.

[0064] Managing a robot fleet, particularly a mobile robot fleet, can present exceptionally complex scheduling challenges. For example, existing fleet management systems may be ill-suited for multiple robot fleets, especially multiple mobile robot fleets with individual power requirements. Depending on the task being performed, mobile robots may be tethered to a power source or untethered and dependent on onboard power. Existing scheduling methods may not account for variations in power requirements imposed by different sets of tasks, some of which may be tethered while others may be untethered. This can lead to inefficient allocation of robots within the robot fleet to different task sets.

[0065] A mobile robot performing a tethered task (i.e., a mobile robot tethered to a power source) can draw power from the power source to which it is tethered to perform the task. While performing the task, and while powered by the power source, any remaining power from the power source can be used to replenish the mobile robot's onboard energy storage device (e.g., a battery). In some embodiments, a controller (e.g., a controller mounted on the mobile robot) can prevent the energy storage device from being overcharged, for example, by temporarily using energy from the energy storage device to perform the task. Once sufficient energy from the energy storage device has been used, the controller can cause the mobile robot to return to the power source to which it is tethered to perform the task, using any remaining power to replenish the energy storage device.

[0066] In some embodiments, the power available from the power source tethered to the mobile robot is at least sufficient to perform the tethered task assigned to the mobile robot. Any remaining power from the power source can be used to replenish the mobile robot's onboard energy storage device. In some embodiments, the power available from the power source tethered to the mobile robot is insufficient to perform at least a portion of the tethered task assigned to the mobile robot. The mobile robot's onboard energy storage device can be used to provide additional power for the execution of the tethered task.

[0067] The advantage of using general-purpose robots to perform tasks is that robots can typically work for longer periods than humans performing the same tasks. In some cases, robots can perform tasks without rest, for example, 24 / 7. Therefore, it may be desirable for the robot system to be operable to charge, replenish, and / or replace the robot's power supply without causing significant interruption to the robot's task; that is, the robot should not be idle while the power supply is being charged, replenished, and / or replaced.

[0068] One advantage of autonomous robots is that they can operate with little or no human supervision or intervention during the performance of robotic tasks. It may be expected that robots will be similarly autonomous during power charging, replenishment, and / or replacement.

[0069] The desired action for assigning robots to tasks includes taking into account the power state of the robots in the robot fleet and the power consumption of the tasks in the task set to which the robot is assigned.

[0070] The robot's "power state" refers to a) the power level at which the robot can provide power for the execution of the task, and / or b) a certain amount of energy stored in the robot, which can be used for the execution of the task. The execution of the task can include the partial completion of the task, or the execution of the task over a period of time. The execution of the task can also include the completion of the task.

[0071] The “power consumption” of a task refers to a) the amount of energy consumed per unit time while performing the task, and / or b) the amount of energy consumed to complete the task. Power consumption may be based at least in part on the amount of energy per unit time and / or the total amount of energy expected to be drawn from the power source by the robots in the robot fleet to perform and / or complete the task. Power consumption may be based on historical power consumption data.

[0072] Assigning robots to tasks by a scheduler in a robot fleet management system can improve efficiency, where a) tasks can be performed and b) the high power state of the robots in the robot fleet can be maintained. For example, it may be advantageous for robots to remain productive when their power supply is changed, charged, or replenished.

[0073] The technologies described in this application include systems, devices, and methods for efficiently allocating robots in a robot fleet to tasks in an autonomous or semi-autonomous manner.

[0074] Figure 1 This is a schematic diagram of scenario 100 of an exemplary embodiment of a robot fleet management system 102 according to the system, device, and method of the present invention. Reference is made below. Figure 2 Describe the robot fleet management system 102.

[0075] Scenario 100 includes a task provider 104 and a fleet of robots 106. Figure 1 In one example implementation, the task provider 104 and the robot fleet 106 are external to the robot fleet management system 102. In other example implementations, the task provider 104 is an element of the robot fleet management system 102.

[0076] The robot fleet management system 102 is communicatively coupled to the task provider 104. In operation, the robot fleet management system 102 acquires (e.g., receives) a task set 108 from the task provider 104. In some embodiments, the task set 108 is retrieved from a non-transitory processor-readable storage medium of the task provider 104 by at least one processor of the robot fleet management system 102. In some embodiments, the task set 108 is received in response to a request 110 from the robot fleet management system 102 (e.g., via a telecommunications interface). In some embodiments, the task set 108 is received periodically from the task provider 104. In some embodiments, the task set 108 is received in response to an external event. The task set 108 may include a tethered task set and a non-tethered task set. The task set 108 may include sufficient information to assign tasks to robots in the robot fleet 106.

[0077] A robot fleet management system 102 is communicatively coupled to a robot fleet 106. The robot fleet management system 102 is operable to acquire (e.g., receive) a corresponding power state 112 for each robot in the robot fleet 106. In some embodiments, the power state 112 of the robots in the robot fleet 106 includes the state of charge of the robot's onboard battery.

[0078] In operation, the robot fleet management system 102 assigns robots in robot fleet 106 to tasks in task set 108 and sends robot allocation results 114 to robot fleet 106. Robot allocation results 114 may include one or more assignments of robots in robot fleet 106 to tasks in task set 108. In some embodiments, robot allocation results 114 are sent directly to one or more robots in robot fleet 106. In some embodiments, robot allocation results 114 are sent to one or more robots in robot fleet 106 via intermediate controller 116.

[0079] In some implementations, the assignment of robots in robot fleet 106 to tasks in task set 108 is based at least in part on: the power state 112 of at least one robot in robot fleet 106 and the power consumption of at least one task in task set 108. In some implementations, the power consumption is based at least in part on the power expected to be drawn from the power source to complete the task. The power source may be a general-purpose alternating current (AC) power source. The power source may be a battery. The battery may be mounted on the robot.

[0080] In some implementations, the robot fleet 106 includes humanoid robots. A humanoid robot is a robot that has a human-like appearance and / or characteristics.

[0081] Figure 2 According to the system, apparatus and method of the present invention Figure 1 A block diagram of an example implementation of a robot fleet management system 102. The robot fleet management system 102 includes a scheduler 202, a task provider (e.g., ...), Figure 1 The interface 204 of the task provider 104, to the robot fleet (e.g., Figure 1 The interface 206 of the robot fleet 106 and the system controller 208.

[0082] System controller 208 is communicatively coupled to scheduler 202 and interfaces 204 and 206. System controller 208 enables scheduler 202 to assign robots in the robot fleet to tasks in a task set. System controller 208 enables interface 204 to send requests to the task provider and / or receive task sets from the task provider. System controller 208 enables interface 206 to send robot assignment results to the robot fleet and / or receive power status from at least one robot in the robot fleet.

[0083] The robot fleet management system 102 includes task data 210, fleet data 212, and environmental data 214. Task data 210 may include one or more sets of tasks received from a task provider via interface 204. Task data 210 may include data designating tasks as tethered or untethered tasks. Task data 210 may include power consumption data for untethered tasks.

[0084] Fleet data 212 may include data about one or more robots in the robot fleet. Fleet data 212 may include data indicating whether a robot is available or unavailable. Fleet data 212 may include the corresponding power status of each robot in the robot fleet.

[0085] Environmental data 214 may include data describing the environment, such as the layout of facilities or work sites, the number and location of tethered stations (see example...). Figure 9 (and its description), the number and location of untethered tasks (if applicable), the robot's path in the environment, etc.

[0086] Figure 3 This is a robot fleet management system (e.g., according to the system, apparatus and method of the present invention) Figure 1 and Figure 2 A block diagram of an example implementation of the controller 300 of a robot fleet management system 102. The controller 300 may be a system controller (e.g., Figure 2 The system controller 208). Controller 300 may be a controller within scheduler 202 and / or interfaces 204 and 206. In various implementations, the control function may be centralized or distributed.

[0087] The controller 300 includes one or more processors 302, one or more non-volatile storage media 304, and non-transitory memory 306. The one or more non-volatile storage media 304 includes a computer program product 308.

[0088] The controller 300 may optionally include a user interface 310 and / or an application programming interface (API) 312.

[0089] One or more processors 302, non-volatile storage medium 304, non-transitory memory 306, user interface 310 and API 312 are communicatively coupled via bus 314.

[0090] Controller 300 can control and / or perform Figure 7 as well as Figure 8A , Figure 8B , Figure 8C and Figure 8D Some or all of the actions (see below) Figure 7 as well as Figure 8A , Figure 8B , Figure 8C and Figure 8D describe).

[0091] Figure 4 The system, apparatus and method according to the present invention includes a robot fleet management system 402 (e.g., Figure 1 and Figure 2 A schematic diagram of the environment 400 of the robot fleet management system 102.

[0092] Environment 400 includes robots 404 and 406, each of which performs non-tethered tasks, namely tasks 408 and 410, respectively. Environment 400 also includes robots 412 and 414, each of which performs tethered tasks, namely tasks 416 and 418, respectively. Environment 400 also includes an unassigned robot 420 that has not yet been assigned a task. Environment 400 also includes non-tethered task 422 and tethered task 424, neither of which currently has a robot assigned to them.

[0093] In some implementations, at least one of robots 404, 406, 412, 414 and 420 is a humanoid robot.

[0094] Each of tethering tasks 416, 418, and 424 includes an associated power station, namely power stations 426, 428, and 430. In some embodiments, power stations 426 and 428 provide power to robots 412 and 414, respectively, while robots 412 and 414 are tethered to power stations 426 and 428, respectively, and perform tethering tasks 416 and 418, respectively. In some embodiments, power stations 426 and 428 provide onboard power replenishment for robots 412 and 414, respectively. In some embodiments, at least one of power stations 426, 428, and 430 includes at least one of the following: universal alternating current (AC) power (e.g., mains power), universal direct current (DC) power, a battery, a fuel cell, a supercapacitor, a power charging station, and a power swapping station. Reference Figure 9 Power stations 426, 428, and 430 are described in more detail.

[0095] Depending on the power state of robot 420 and the power consumption of untethered task 422, robot 420 can be assigned to either untethered task 422 or tethered task 424. In some embodiments, robot fleet management system 402 determines whether robot 420 has sufficient power to complete untethered task 422. If it does, robot fleet management system 402 assigns robot 420 to untethered task 422. If it does not, robot fleet management system 402 assigns robot 420 to tethered task 424. (See reference...) Figure 7 as well as Figure 8A , Figure 8B , Figure 8C and Figure 8D This example implementation and various other example implementations for assigning robots to tasks are described in more detail.

[0096] The power state of each of robots 404, 406, 412, 414, and 420 is schematically shown by instrument displays 432, 434, 436, 438, and 440, respectively. For example, the power state of robot 414 is higher than that of robot 404. In some embodiments, each of robots 414 and 404 includes a corresponding battery, and instrument displays 438 and 432 indicate that the battery of robot 414 is more fully charged than the battery of robot 404.

[0097] The robot fleet management system 402 is communicatively coupled to robots 404, 406, 412, 414, and 420 via communication links 442, 444, 446, 448, and 450, respectively. In some embodiments, the robot fleet management system 402 communicates wirelessly with robots 404, 406, 412, 414, and 420, and communication links 442, 444, 446, 448, and 450 include wireless communication links. In some embodiments, the robot fleet management system 402 is also communicatively coupled to power stations 426, 428, and 430, for example, via wireless communication (by... Figure 4 (The dotted line indicates this). The robot fleet management system 402 can receive status updates, for example, from power stations 426, 428, and 430.

[0098] Figure 5 It is a fleet of robots (e.g., according to the system, device and method of the present invention) Figure 1 A schematic diagram of an example implementation of robot 500 in a robot fleet 106. Robot 500 includes a power source 502. Power source 502 may be at least one of a battery, a fuel cell, or a supercapacitor.

[0099] Robot 500 also includes a base 504 and a humanoid upper body 506. The base 504 includes a pelvic region 508 and two legs 510a and 510b (collectively referred to as legs 510). Figure 5 Only the upper part of leg 510 is shown in the image. In other example embodiments, base 504 may include a support and (optionally) one or more wheels.

[0100] The upper body 506 includes a torso 512, a head 514, a left arm 516a and a right arm 516b (collectively referred to as arms 516), and a left hand 518a and a right hand 518b (collectively referred to as hands 518). The arm 516 of the robot 500 is also referred to as a robotic arm in this application. The arm 516 of the robot 500 is a humanoid arm. In other embodiments, the arm 516 has a shape factor different from that of a humanoid arm.

[0101] Hand 518 is also referred to as an end effector in this application. In other embodiments, hand 518 has a shape factor different from that of a human hand. Each hand 518 includes one or more finger-like elements, such as finger-like elements 520 of hand 518b. The finger-like elements may include fingers, thumbs, or similar structures to hands or end effectors.

[0102] In some embodiments, robot 500 is a hydraulically driven robot. Components of the hydraulic control system may be housed in, for example, the torso 512 of the base 504 and / or upper body 506. The hydraulic control components may also be located externally to the robot, for example, on a wheeled unit that rolls with the robot as it moves, or in a fixed station to which the robot is tethered. Figure 5 In one embodiment, the robot 500 includes a hydraulic pump 522, a reservoir 524, and an accumulator 526 integrated with the arm 516b of the robot 500.

[0103] Robot 500 also includes hoses 528 and 530. Hoses 528 provide hydraulic coupling between accumulator 526 and pressure valve 532. Hoses 530 provide hydraulic coupling between discharge valve 534 and reservoir 524. Robot 500 also includes hose 536 extending from pressure valve 532 to actuated piston 538 and hose 540 extending from actuated piston 538 to discharge valve 534. Hoses 528 and 536, along with pressure valve 532, provide a forward path to actuated piston 538. Hoses 530 and 540, along with discharge valve 534, provide a return path from actuated piston 538. Figure 5 The hydraulic fluid in the hydraulic hoses (including hoses 528 and 530) can be oil, such as peanut oil or mineral oil.

[0104] Pressure valve 532 and discharge valve 534 can control actuation piston 538 and can move actuation piston 538, which can cause corresponding movement of at least a portion of hand 518b (e.g., finger 520).

[0105] In some embodiments, pressure valve 532 and discharge valve 534 are electro-hydraulic servo valves controlled by controller 542. Electro-hydraulic servo valves are also referred to herein as servo valves and servo control valves. Controller 542 can be implemented by any suitable combination of hardware, software, and / or firmware. Controller 542 may include, for example, one or more application-specific integrated circuits, standard integrated circuits, and / or computer programs executed by any number of computers, microcontrollers, and / or processors (including, for example, microprocessors, central processing units). In other embodiments, other suitable types of valves may be used.

[0106] Pump 522, pressure valve 532, and discharge valve 534 are examples of components of the hydraulic control system of robot 500 that can be powered by power supply 502. Controller 542 is an example of an electronic system that can also be powered by power supply 502.

[0107] In other embodiments, the hydraulic drive mechanism includes a motor and a drive piston. The motor and drive piston are further examples of components of robot 500 that can be powered by power source 502. In other embodiments, robot 500 is an electromechanical robot. In other embodiments, robot 500 is a cable-driven robot.

[0108] Power supply 502 may be a main power supply. The main power supply is the power used by robot 500 in normal operation to supply power to the electrical and / or electronic components of robot 500 (e.g., pump 522 and controller 542).

[0109] Figure 5 A single main power supply 502 is shown. Those skilled in the art will understand that robot 500 may include more than one main power supply. In some embodiments, each main power supply is dedicated to a specific subset of electrical or electronic components on robot 500. In some embodiments, multiple main power supplies may be included to provide redundancy in the event of a failure of one main power supply.

[0110] Robot 500 also includes an auxiliary power supply 544. The auxiliary power supply of robot 500 (e.g., auxiliary power supply 544) is a power source that can be accessed by robot 500 (or another element of the robot system to which robot 500 belongs) to maintain power to the electrical and / or electronic components of robot 500 when the main power supply (e.g., power supply 502) is unavailable. The main power supply may be unavailable, for example, when the current power supply is replaced to replace the main power supply. The auxiliary power supply may have a lower capacity than the main power supply. For example, auxiliary power supply 544 may be a secondary battery.

[0111] Figure 6 It is a fleet of robots (e.g., according to the system, device and method of the present invention) Figure 1 A schematic diagram of another example implementation of robot 600 in a robot fleet 106. Robot 600 may be autonomous or semi-autonomous. Robot 600 may be a general-purpose robot. Robot 600 may be a robot in a robot fleet.

[0112] Robot 600 includes a power source 602. The power source 602 can be at least one of a battery, a fuel cell, or a supercapacitor.

[0113] Robot 600 is a humanoid robot. A humanoid robot is a robot that has a human-like appearance and / or characteristics. In some embodiments, robot 600 is capable of autonomous movement (e.g., walking on two legs).

[0114] Robot 600 includes a head 604, a torso 606, robotic arms 608 and 610, and hands 612 and 614. Robot 600 is a bipedal robot and includes a joint 616 between the torso 606 and the robotic legs 618. Joint 616 allows the torso 606 to rotate relative to the robotic legs 618. For example, joint 616 allows the torso 606 to bend forward.

[0115] The mechanical leg 618 includes thighs 620 and 622, each having hip joints 624 and 626, respectively. The mechanical leg 618 also includes lower legs 628 and 630, mechanically coupled to the thighs 620 and 622 via knee joints 632 and 634, respectively. Lower legs 628 and 630 are also mechanically coupled to feet 636 and 638 via ankle joints 640 and 642, respectively. In various embodiments, one or more of the hip joints 624 and 626, knee joints 632 and 634, and ankle joints 640 and 642 are actuated joints.

[0116] Robot 600 may be a hydraulically driven robot. In some embodiments, robot 600 has an alternative or additional power system. In some embodiments, for example, the torso 606 houses the hydraulic control system. In some embodiments, components of the hydraulic control system may alternatively be located external to the robot, for example, on a wheeled unit that rolls with the robot as it moves, or in a fixed station to which the robot is tethered. The hydraulic control system of robot 600 may include a hydraulic pump, a reservoir, and / or an accumulator. Hydraulic hoses may provide hydraulic coupling between the hydraulic control system and one or more pressure valves.

[0117] In some embodiments, robot 600 may be part of a mobile robot system that includes a mobile base. In some embodiments, the robot is capable of mounting and detaching the mobile base. In some embodiments, the mobile base includes wheels and / or tracks, and the robot is capable of moving around the environment as a passenger when mounted on the mobile base. In some embodiments, the robot is bipedal and is capable of moving around the environment independently of the mobile base when detached from it.

[0118] Robot 600 may include sensors, such as auditory, visual, tactile, and / or olfactory sensors. Robot 600 may include a speech generator and / or a sound generator. Robot 600 may use the speech generator and / or sound generator in interactions with humans. Sensors can be used to perform tasks. Tasks can be untethered or tethered.

[0119] Figure 7 This is a robot fleet management system (e.g., according to the system, apparatus and method of the present invention) Figure 1 and Figure 2 A flowchart of an example implementation of the operation method 700 of the robot fleet management system 102.

[0120] At 702, the method begins in response to a start condition (e.g., controller power-on). At 704, the robot fleet management system (optionally) receives data from the task provider (e.g., Figure 1 The task provider 104 requests a set of tasks (e.g., a task list). At 706, the robot fleet management system obtains (e.g., receives) the set of tasks (e.g., a task list) from the task provider.

[0121] At point 708, the robot fleet management system acquires (e.g., determines) the power consumption of tasks within the task set. For example, the task set and its corresponding power consumption may be stored in a non-transitory processor-readable storage medium (within or separate from the robot fleet management system), and to acquire the power consumption of a task, the processor of the robot fleet management system can retrieve the corresponding data from the non-transitory processor-readable storage medium. As another example, power consumption may be acquired (e.g., determined or at least estimated by the processor of the robot fleet management system) based on task power consumption data (e.g., data stored in the robot fleet management system). Figure 2 (Task data 210). In some implementations, the power consumption data of the task is provided by a task provider. In some implementations, the task set is sorted by power consumption (e.g., in ascending or descending order). If at 710, the robot fleet management system determines that another task exists, method 700 returns to 708 and obtains / determines the power consumption of the next task.

[0122] Otherwise, method 700 proceeds to 712, where the robot fleet management system acquires the power status of the robots in the robot fleet. The power status can be provided by the robots in the robot fleet, or it can be obtained by the robot fleet management system based at least on data provided by the robots in the robot fleet and / or fleet data stored in the robot fleet management system (e.g., Figure 2 The power state can be determined or at least estimated using fleet data (212). In some embodiments, the power state can be determined by the robot fleet management system and / or the robot based at least in part on data from one or more onboard sensors that monitor the power level of the onboard power source. In some embodiments, the robot's power state can be determined at least in part based on records of accumulated power drawn from the robot to perform various untethered tasks.

[0123] At 714, if the robot fleet management system determines that another robot exists, method 700 returns to 712 and determines the power status of the next robot.

[0124] Otherwise, method 700 proceeds to 716, where the robot fleet management system assigns each robot in at least one robot in the robot fleet to a corresponding task in the task set. At 718, method 700 ends, for example, when all robots in the robot fleet have been assigned tasks or when the controller is powered off.

[0125] Figure 8A , Figure 8B , Figure 8C and Figure 8DThis is a robot fleet management system (e.g., according to the system, apparatus and method of the present invention) Figure 1 and Figure 2 A flowchart of an example implementation of the operation method of the robot fleet management system 102, used to assign robots in the robot fleet to tasks in a task set. Figure 8A , Figure 8B , Figure 8C and Figure 8D This illustrates the method for assigning robots to tasks. Figure 7 Various example implementations of action 716. Figure 8A , Figure 8B , Figure 8C and Figure 8D The exemplary embodiments described in the following figures are referred to as methods 716a, 716b, 716c and 716d, respectively.

[0126] Figure 8A The system, apparatus, and method according to the present invention are for assigning robots to tasks. Figure 7 A flowchart of an example implementation of action 716 (method 716a).

[0127] Method 716a begins at 802. At 802, if the robot fleet management system determines that the robot has sufficient power for the untethered task, method 716a proceeds to 804, where the robot fleet management system assigns the robot to the untethered task and returns control to the robot. Figure 7 718. Otherwise, method 716a proceeds to 806. At 806, if the robot fleet management system determines that another non-tethered task exists in the task set, method 716a returns to 802. Otherwise, method 716a proceeds to 808, where the fleet management system assigns the robot to a tethered task and returns control to 802. Figure 7 718.

[0128] Figure 8B The system, apparatus, and method according to the present invention are for assigning robots to tasks. Figure 7 A flowchart of another example implementation of action 716 (method 716b).

[0129] Method 716b begins at 810. At 810, if the robot fleet management system determines that the robot's power state is greater than the upper limit threshold, method 716b proceeds to 812, where the robot fleet management system assigns the robot to an untethered task and returns control to the robot. Figure 7718. Otherwise, method 716 proceeds to 814. At 814, if the robot fleet management system determines that the robot's power state is below a lower threshold, then method 761b proceeds to 816, where the fleet management system assigns the robot to a tethered task and returns control to 718. Figure 7 Method 718. Otherwise, method 716b will return control directly to... Figure 7 718.

[0130] Figure 8C The system, apparatus, and method according to the present invention are for assigning robots to tasks. Figure 7 A flowchart of another example implementation of action 716 (method 716c).

[0131] Method 716c begins at 818. At 818, if the robot fleet management system determines that the robot's power state is greater than the upper limit threshold, method 716c proceeds to 820. At 820, the robot fleet management system assigns the robot to an untethered task and returns control to... Figure 7 718. Otherwise, method 716b proceeds to 822. At 822, if the robot fleet management system determines that the robot's power state is below a lower threshold, then method 716c proceeds to 824, where the fleet management system assigns the robot to a tethered task and returns control to 718. Figure 7 Method 718. Otherwise, method 716c will return control directly to... Figure 8A At point 802, the robot is assigned a task to which it has sufficient power to complete. Determining whether the robot has sufficient power to complete the task can be based at least in part on the robot's power state and the task's power consumption.

[0132] Figure 8D The system, apparatus, and method according to the present invention are for assigning robots to tasks. Figure 7 A flowchart of another example implementation of action 716 (method 716d).

[0133] Method 716d begins at 826. At 826, if the robot fleet management system determines that the power state of the first robot is greater than that of the second robot, then method 716d proceeds to 828, where the robot fleet management system assigns the first robot to an untethered task. At 830, the robot fleet management system assigns the second robot to a tethered task and then returns control to... Figure 7 718. Otherwise, method 716d proceeds to 832. At 832, the robot fleet management system assigns the first robot to a tethered task. At 834, the robot fleet management system assigns the second robot to an untethered task and then returns control to... Figure 7718.

[0134] In some implementations, reference Figure 7 , Figure 8A , Figure 8B , Figure 8C and Figure 8D The described operation method of the robot fleet management system is executed in real time or near real time.

[0135] In some implementations, the robot fleet management system includes additional considerations when scheduling and assigning robots to tasks. For example, in some implementations, assigning a robot to a task is based at least in part on at least one of the task's priority relative to other tasks in the task set and the robot's maintenance conditions.

[0136] Figure 9 It is a power station 900 for tethering tasks according to the system, apparatus and method of the present invention (e.g., Figure 4 A block diagram of an example implementation of a power station 426.

[0137] When a robot is assigned a tethering task, its power supply may be replaced and / or recharged while the robot performs the tethering task. Power station 900 includes a power replacement storage tank 902, which includes components for use with the robot (e.g., [missing information - likely a specific component]). Figure 5 and Figure 6 The power station 900 includes one or more replacement power supplies compatible with robots 500 and 600. The power station 900 also includes a used power storage bank 904, which contains one or more used, depleted, or discharged power supplies received from robots in the robot fleet.

[0138] The power station 900 may include a charger. The charger may be adapted to charge the power source (e.g., batteries) of the robots in the robot fleet.

[0139] Power station 900 may include a socket 908 for auxiliary power. Socket 908 may provide at least one of AC power and DC power. Socket 908 may be used to supply power to the robot a) when the robot exchanges power with power station 900, b) when the robot is charging the main power source (or otherwise waiting for the main power source), and / or c) when the robot is performing a tethered task.

[0140] Power station 900 may include power management system 910. Power management system 910 may include at least one processor. In some embodiments (e.g., when the robot cannot identify its own power conditions), power management system 910 may be used to assess the robot's power state (e.g., low power condition or state of charge). Power management system 910 may be used to provide automatic switching and / or automatic charging of the robot's power. Automatic switching and / or charging may include connecting and disconnecting auxiliary power sources to maintain power supply to the robot during switching and / or while the robot is performing tethered tasks.

[0141] The power station 900 can be a mobile station or a fixed station. In some embodiments, the robot is mobile, and the power station is in a fixed location. In some embodiments, the power station is mobile and can be guided to the robot when it has a current or impending low power condition. When an impending low power condition is first detected, the robot may be performing an untethered or tethered task.

[0142] Figure 10 This is a schematic diagram of scenario 1000 of another exemplary embodiment of the robot fleet management system 1002 according to the system, device and method of the present invention.

[0143] Robot fleet management system 1002 is similar to Figure 1 The robot fleet management system 102, and refer to the above. Figure 2 To describe in more detail.

[0144] Scenario 1000 includes environment 1004, which includes a robot fleet 1006 and a task set 1008. Environment 1004 may include at least one of a location, facility, work location, etc. A robot fleet management system 1002 is communicatively coupled to the robot fleet 1006. The robot fleet management system 1002 is operable to acquire / receive the task set 1008.

[0145] Scenario 1000 also includes environment 1010, which includes robot fleet 1012 and task set 1014. Environment 1010 may include at least one of location, facility, work location, etc. Robot fleet management system 1002 is communicatively coupled to robot fleet 1012. Robot fleet management system 1002 is operable to acquire / receive task set 1014.

[0146] Task sets 1008 and 1014 can be provided by the robot fleet management system 1002 from one or more task providers ( Figure 10(Not shown in the image) Acquisition / reception. Task sets 1008 and 1014 may include tethered and untethered tasks. Task sets 1008 and 1014 may include sufficient information to assign the robots in robot fleets 1006 and 1012 to tasks respectively.

[0147] During operation, the robot fleet management system 1002 assigns the robots in robot fleets 1006 and 1012 to tasks in task sets 1008 and 1014, respectively.

[0148] The above reference Figure 7 , Figure 8A , Figure 8B , Figure 8C and Figure 8D The operation method of the robot fleet management system 1002 is described.

[0149] In some implementations, the robots in robot fleets 1006 and 1012 are humanoid robots.

[0150] The various embodiments described herein may include, or be in combination with, any or all of the systems, apparatuses, and methods described in the following: U.S. Patent Application Serial No. 18 / 089,517, U.S. Patent Application Serial No. 16 / 940,566 (Publication No. US 2021-0031383 A1), U.S. Patent Application Serial No. 17 / 023,929 (Publication No. US 2021-0090201 A1), U.S. Patent Application Serial No. 17 / 061,187 (Publication No. US 2021-0122035 A1), U.S. Patent Application Serial No. 17 / 098,716 (Publication No. US 2021-0146553 A1), U.S. Patent Application Serial No. 17 / 111,789 (Publication No. US 2021-0170607 A1), and U.S. Patent Application Serial No. 17 / 158,244 (Publication No. US2021-0234997). A1), U.S. Provisional Patent Application Serial No. 63 / 001,755 (Publication No. US 2021-0307170 A1) and / or U.S. Provisional Patent Application Serial No. 63 / 057,461, and U.S. Provisional Patent Application Serial Nos. 63 / 151,044, 63 / 173,670, 63 / 184,268, 63 / 213,385, 63 / 232,694, 63 / 316,693, 63 / 253,591, 63 / 293,968, 63 / 293,973 and / or 63 / 278,817, each of which is incorporated herein by reference in its entirety.

[0151] Throughout this specification and the appended claims, the infinitive verb form is frequently used. Examples include, but are not limited to, "to provide," "to control," etc. Unless the specific context requires otherwise, such infinitive verb forms are used in an open, inclusive sense, i.e., as "to at least provide," "to at least control," etc.

[0152] This specification (including the accompanying drawings and abstract) is not intended to be an exhaustive or limiting description of all implementations and embodiments of the system, apparatus, and method. Those skilled in the art will understand that the various descriptions and drawings provided can be modified without departing from the spirit and scope of this disclosure. In particular, the teachings herein are not intended to be limited to or restricted to the illustrative examples of the robotic systems and hydraulic circuits provided.

[0153] The claims of this disclosure are appended. This disclosure is intended to support, implement, and describe the claims, but is not intended to limit the scope of the claims to any particular implementation or embodiment. In general, the claims should be interpreted to include all possible implementations and embodiments together with the full scope of equivalents to which these claims are entitled.

Claims

1. An operation method for a robot fleet management system, the method comprising: The robot fleet management system obtains a set of tasks that can be performed by the robot fleet; The robot fleet management system obtains the corresponding power consumption of each task in the task set; The robot fleet management system obtains the corresponding power status of each robot in the robot fleet; as well as The robot fleet management system assigns the first robot to the first task based at least in part on the power state of at least the first robot in the robot fleet and the power consumption of at least the first task in the task set.

2. The method according to claim 1, wherein, The assignment of a first robot in the robot fleet to a first task in the task set by the robot fleet management system includes: the robot fleet management system assigning the first robot in the robot fleet to a first task in the task set based at least in part on the corresponding power state of each robot in the robot fleet and the corresponding power consumption of each task in the task set.

3. The method according to claim 1, wherein, The set of tasks that can be performed by the robot fleet obtained by the robot fleet management system includes: a set of tasks that includes at least one tethered task and at least one untethered task.

4. The method according to claim 3, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the first robot has sufficient power to complete the untethered task selected from the at least one untethered task, and The robot fleet management system assigns the first robot to the selected non-tethered task.

5. The method according to claim 3, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the power status of the first robot is higher than the upper limit threshold; and The robot fleet management system assigns the first robot in the robot fleet to an untethered task selected from the at least one untethered task.

6. The method according to claim 3, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the first robot does not have sufficient power to complete the non-tethered task selected from the at least one non-tethered task; and The robot fleet management system assigns the first robot to a tethered task selected from the at least one tethered task.

7. The method according to claim 3, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the first robot does not have sufficient power to complete any of the non-tethered tasks selected from the at least one non-tethered task; and The robot fleet management system assigns the first robot to a tethered task selected from the at least one tethered task.

8. The method according to claim 3, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the power state of the first robot is below a lower threshold; and The robot fleet management system assigns the first robot in the robot fleet to a tethered task selected from the at least one tethered task.

9. The method according to claim 3, further comprising: The robot fleet management system initiates power replenishment for the first robot during the first robot's tethered task.

10. The method according to claim 1, wherein, The robot fleet management system obtains the corresponding power consumption for each task in the task set by: obtaining the corresponding power consumption by the robot fleet management system at least in part based on the power expected to be drawn from the power source by the robots in the robot fleet to complete each task in the task set.

11. The method according to claim 10, wherein, The process of obtaining corresponding power consumption by the robot fleet management system based at least in part on the expected power to be drawn from a power source by the robots in the robot fleet to complete each task in the task set includes: obtaining corresponding power consumption by the robot fleet management system based at least in part on the expected power to be drawn from a battery to complete each task in the task set, the battery being mounted on a battery-powered robot in the robot fleet.

12. The method according to claim 1, wherein, Obtaining the corresponding power consumption of each task in the task set by the robot fleet management system includes: obtaining the corresponding power consumption by the robot fleet management system based at least in part on the corresponding historical power consumption data of each task in the task set.

13. The method according to claim 1, wherein, Obtaining the corresponding power consumption of each task in the task set by the robot fleet management system includes obtaining at least one of the corresponding power consumption score and power consumption category for each task in the task set by the robot fleet management system.

14. The method according to claim 1, wherein, Obtaining the corresponding power status of each robot in the robot fleet from the robot fleet management system includes obtaining the corresponding state of charge of the onboard battery of each robot in the robot fleet from the robot fleet management system.

15. The method according to claim 1, wherein, Obtaining the power status of each robot in the robot fleet from the robot fleet management system includes determining the power status of each robot based at least in part on the cumulative power consumption of each robot for at least one completed task in the at least one untethered task.

16. The method according to claim 1, further comprising: The robot fleet management system assigns the second robot to the second task based at least in part on the corresponding power state of at least the second robot in the robot fleet and the corresponding power consumption of at least the second task in the task set.

17. The method according to claim 16, wherein, The assignment of a second robot in the robot fleet to a second task in the task set by the robot fleet management system includes: the assignment of the second robot in the robot fleet to a second task in the task set by the robot fleet management system based at least in part on the corresponding power state of each robot in the robot fleet and the corresponding power consumption of each task in the task set.

18. The method of claim 16, wherein: The robot fleet management system obtains a set of tasks that can be performed by the robot fleet, including: a task set comprising at least one tethered task and at least one untethered task. The assignment of a first robot from the robot fleet to a first task in the task set by the robot fleet management system, and the assignment of a second robot from the robot fleet to a second task in the task set by the robot fleet management system, include: The robot fleet management system determines that the power state of the first robot is lower than that of the second robot; The robot fleet management system assigns tethered tasks selected from the at least one tethered task to the first robot; and The robot fleet management system assigns an untethered task selected from the at least one untethered task to the second robot.

19. The method according to claim 1, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: assigning the first robot to the first task by the robot fleet management system based at least in part on the priority of the first task relative to other tasks in the task set and the maintenance conditions of the first robot.

20. The method according to claim 1, wherein, The allocation of the first robot to the first task by the robot fleet management system based at least in part on the power state of at least the first robot in the robot fleet and the power consumption of at least the first task in the task set includes: the robot fleet management system allocating the first task in the task set to the first robot in the robot fleet in real time.

21. The method according to claim 1, wherein, The set of tasks that can be performed by the robot fleet, received by the robot fleet management system, includes: the set of tasks that can be performed by the robot fleet deployed in the public environment.

22. The method according to claim 1, wherein, Receiving a set of tasks that can be performed by the robot fleet from the robot fleet management system includes receiving a set of tasks that includes the following: A first set of tasks, the first set of tasks being executable by at least a first robot in the robot fleet in a first environment; and A second set of tasks, which can be performed by at least a second robot in the robot fleet in a second environment.

23. A robot fleet management system, comprising at least one processor and at least one non-transitory processor-readable storage medium communicatively coupled to the at least one processor, the at least one non-transitory processor-readable storage medium storing processor-executable instructions and / or data, the processor-executable instructions and / or data, when executed by the at least one processor, causing the robot fleet management system to perform an operation method of the robot fleet management system, wherein the operation method includes: The robot fleet management system obtains a set of tasks that can be performed by the robot fleet; The robot fleet management system obtains the corresponding power consumption of each task in the task set; The robot fleet management system obtains the corresponding power status of each robot in the robot fleet; as well as The robot fleet management system assigns the first robot to the first task based at least in part on the power state of at least the first robot in the robot fleet and the power consumption of at least the first task in the task set.

24. The robot fleet management system according to claim 23, wherein, The assignment of a first robot in the robot fleet to a first task in the task set by the robot fleet management system includes: the robot fleet management system assigning the first robot in the robot fleet to a first task in the task set based at least in part on the corresponding power state of each robot in the robot fleet and the corresponding power consumption of each task in the task set.

25. The robot fleet management system according to claim 23, wherein, The set of tasks that can be performed by the robot fleet obtained by the robot fleet management system includes: a set of tasks that includes at least one tethered task and at least one untethered task.

26. The robot fleet management system according to claim 25, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the first robot has sufficient power to complete the untethered task selected from the at least one untethered task; and The robot fleet management system assigns the first robot to the selected non-tethered task.

27. The method according to claim 26, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the power status of the first robot is higher than the upper limit threshold; and The robot fleet management system assigns the first robot in the robot fleet to an untethered task selected from the at least one untethered task.

28. The robot fleet management system according to claim 26, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the first robot does not have sufficient power to complete the non-tethered task selected from the at least one non-tethered task; and The robot fleet management system assigns the first robot to a tethered task selected from the at least one tethered task.

29. The robot fleet management system according to claim 25, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the first robot does not have sufficient power to complete any of the non-tethered tasks selected from the at least one non-tethered task; and The robot fleet management system assigns the first robot to a tethered task selected from the at least one tethered task.

30. The robot fleet management system according to claim 25, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: The robot fleet management system determines that the power state of the first robot is below a lower threshold; and The robot fleet management system assigns the first robot in the robot fleet to a tethered task selected from the at least one tethered task.

31. The robot fleet management system according to claim 25, wherein, The method further includes: during the period when the first robot is performing a tethered task, the robot fleet management system initiates the power supply replenishment of the first robot.

32. The robot fleet management system according to claim 23, wherein, The robot fleet management system obtains the corresponding power consumption for each task in the task set by: obtaining the corresponding power consumption by the robot fleet management system at least in part based on the power expected to be drawn from the power source by the robots in the robot fleet to complete each task in the task set.

33. The robot fleet management system according to claim 32, wherein, The process of obtaining corresponding power consumption by the robot fleet management system based at least in part on the expected power to be drawn from a power source by the robots in the robot fleet to complete each task in the task set includes: obtaining corresponding power consumption by the robot fleet management system based at least in part on the expected power to be drawn from a battery to complete each task in the task set, the battery being mounted on a battery-powered robot in the robot fleet.

34. The robot fleet management system according to claim 23, wherein, Obtaining the corresponding power consumption of each task in the task set by the robot fleet management system includes: obtaining the corresponding power consumption by the robot fleet management system based at least in part on the corresponding historical power consumption data of each task in the task set.

35. The robot fleet management system according to claim 23, wherein, Obtaining the corresponding power consumption of each task in the task set by the robot fleet management system includes obtaining at least one of the corresponding power consumption score and power consumption category for each task in the task set by the robot fleet management system.

36. The robot fleet management system according to claim 23, wherein, Obtaining the corresponding power status of each robot in the robot fleet from the robot fleet management system includes obtaining the corresponding state of charge of the onboard battery of each robot in the robot fleet from the robot fleet management system.

37. The robot fleet management system according to claim 23, wherein, Obtaining the power status of each robot in the robot fleet from the robot fleet management system includes determining the power status of each robot based at least in part on the cumulative power consumption of each robot for at least one completed task in the at least one untethered task.

38. The robot fleet management system according to claim 23, wherein, The method further includes: assigning the second robot to the second task by the robot fleet management system based at least in part on the corresponding power state of at least the second robot in the robot fleet and the corresponding power consumption of at least the second task in the task set.

39. The robot fleet management system according to claim 38, wherein, The assignment of a second robot in the robot fleet to a second task in the task set by the robot fleet management system includes: the assignment of the second robot in the robot fleet to a second task in the task set by the robot fleet management system based at least in part on the corresponding power state of each robot in the robot fleet and the corresponding power consumption of each task in the task set.

40. The robot fleet management system according to claim 38, wherein: The set of tasks that can be performed by the robot fleet, obtained by the robot fleet management system, includes: a task set comprising at least one tethered task and at least one untethered task, and... The assignment of a first robot from the robot fleet to a first task in the task set by the robot fleet management system, and the assignment of a second robot from the robot fleet to a second task in the task set by the robot fleet management system, include: The robot fleet management system determines that the power state of the first robot is lower than that of the second robot; The robot fleet management system assigns tethered tasks selected from the at least one tethered task to the first robot; and The robot fleet management system assigns an untethered task selected from the at least one untethered task to the second robot.

41. The robot fleet management system according to claim 23, wherein, Assigning a first robot to a first task by the robot fleet management system based at least in part on the power state of at least a first robot in the robot fleet and the power consumption of at least a first task in the task set includes: assigning the first robot to the first task by the robot fleet management system based at least in part on the priority of the first task relative to other tasks in the task set and the maintenance conditions of the first robot.

42. The robot fleet management system according to claim 23, wherein, The allocation of the first robot to the first task by the robot fleet management system based at least in part on the power state of at least the first robot in the robot fleet and the power consumption of at least the first task in the task set includes: the robot fleet management system allocating the first task in the task set to the first robot in the robot fleet in real time.

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