Robot task processing method and apparatus, computer device, and storage medium

Abstract

The application relates to a robot task processing method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: obtaining current task information of a robot; determining target compilation file information matched with the current task information based on a mapping relationship between a task type and the compilation file information; determining a target control file matched with the current task information based on a matching result between the target compilation file information and each compilation file in a cache pool; and controlling the robot to perform a target action matched with the current task information based on the target control file. The method can improve the response efficiency of the robot.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a robot task processing method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] In recent years, the robotics industry has developed rapidly and has been widely used in many fields such as manufacturing, logistics, medical care, and services. For example, taking collaborative robots as an example, compared with traditional industrial robots, collaborative robots have greater flexibility and safety, and can adapt to complex and ever-changing work scenarios, which greatly expands their application scope. At the same time, these advantages also put forward higher requirements for the programming and operating efficiency of collaborative robots.

[0003] Currently, most mainstream robot manufacturers have launched dedicated programming and compilation systems to lower the barrier to entry and meet the programming needs of non-professional users. However, due to the complexity of robot application scenarios and the limitations of robot controller hardware performance, the compilation and loading efficiency of programs is difficult to meet real-time business requirements, resulting in low robot response efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a robot task processing method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can improve the robot's response efficiency in response to the above-mentioned technical problems.

[0005] Firstly, this application provides a robot task processing method. The method includes:

[0006] Obtain the robot's current task information;

[0007] Based on the mapping relationship between task type and compiled file information, determine the target compiled file information that matches the current task information;

[0008] Based on the matching results between the target compiled file information and each compiled file in the cache pool, the target control file that matches the current task information is determined.

[0009] Based on the target control file, the robot is controlled to perform target actions that match the current task information.

[0010] In one embodiment, the target compiled file information includes: the file hash value and / or file version number of the target compiled file;

[0011] The step of determining the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool includes:

[0012] For each compiled file in the cache pool, if the compiled file matches the file hash value and / or file version number of the target compiled file, then the matching compiled file is determined as a candidate compiled file;

[0013] If the storage duration of the candidate compilation file is less than or equal to the duration threshold, then the candidate compilation file and the configuration file corresponding to the candidate compilation file are determined as the target control file that matches the current task information.

[0014] In one embodiment, determining the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool includes:

[0015] For each compiled file in the cache pool, if there is no available compiled file in the cache pool that matches the target compiled file information, then the target source program corresponding to the target compiled file information is obtained from multiple source programs;

[0016] Compile the target source program to obtain the target compiled file and the configuration file corresponding to the target compiled file;

[0017] The target compiled file and the configuration file are identified as the target control file that matches the current task information.

[0018] In one embodiment, the method further includes any one of the following:

[0019] First item:

[0020] If any of the compiled files in the cache pool does not match the target compiled file information, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information;

[0021] Second item:

[0022] If the cache pool contains a compiled file that matches the target compiled file information, and the storage duration of the matching compiled file is greater than the duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information.

[0023] In one embodiment, the method further includes at least one of the following:

[0024] First item:

[0025] The target compiled file and the configuration file are stored in the cache pool;

[0026] Second item:

[0027] If the source program is deleted, the compiled file corresponding to the source program in the cache pool is also deleted.

[0028] In one embodiment, the method further includes:

[0029] Obtain the configuration parameters that match the current task information;

[0030] Based on the correspondence between task type and structure, the configuration parameters are mapped to a structure that matches the current task information to obtain the configuration file.

[0031] Secondly, this application provides a robot task processing device, the device comprising:

[0032] The acquisition module is used to acquire the robot's current task information;

[0033] The determination module is used to determine the target compiled file information that matches the current task information based on the mapping relationship between task type and compiled file information;

[0034] The processing module is used to determine the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool;

[0035] The control module is used to control the robot to perform target actions that match the current task information based on the target control file.

[0036] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0037] Obtain the robot's current task information;

[0038] Based on the mapping relationship between task type and compiled file information, determine the target compiled file information that matches the current task information;

[0039] Based on the matching results between the target compiled file information and each compiled file in the cache pool, the target control file that matches the current task information is determined.

[0040] Based on the target control file, the robot is controlled to perform target actions that match the current task information.

[0041] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0042] Obtain the robot's current task information;

[0043] Based on the mapping relationship between task type and compiled file information, determine the target compiled file information that matches the current task information;

[0044] Based on the matching results between the target compiled file information and each compiled file in the cache pool, the target control file that matches the current task information is determined.

[0045] Based on the target control file, the robot is controlled to perform target actions that match the current task information.

[0046] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0047] Obtain the robot's current task information;

[0048] Based on the mapping relationship between task type and compiled file information, determine the target compiled file information that matches the current task information;

[0049] Based on the matching results between the target compiled file information and each compiled file in the cache pool, the target control file that matches the current task information is determined.

[0050] Based on the target control file, the robot is controlled to perform target actions that match the current task information.

[0051] The aforementioned robot task processing method, apparatus, computer equipment, storage medium, and computer program product acquire the robot's current task information, determine the target compiled file information matching the current task information based on the mapping relationship between task type and compiled file information, and determine the target control file matching the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool. Finally, based on the target control file, the robot is controlled to execute the target action matching the current task information. Therefore, by using already compiled files in the cache pool to determine the target control file matching the current task information, the overhead of repeated compilation can be avoided, the program loading and running time can be reduced, and the robot's response efficiency can be improved. Attached Figure Description

[0052] Figure 1 This is a flowchart illustrating a robot task processing method in one embodiment;

[0053] Figure 2This is a flowchart illustrating the process of determining the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool, as shown in one embodiment.

[0054] Figure 3 This is a flowchart illustrating the process of determining the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool, as described in another embodiment.

[0055] Figure 4 This is a flowchart illustrating a robot task processing method in another embodiment;

[0056] Figure 5 This is a flowchart illustrating a robot task processing method in another embodiment;

[0057] Figure 6 This is a structural block diagram of a robot task processing device in one embodiment;

[0058] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0060] Currently, most mainstream robot manufacturers have launched dedicated programming and compilation systems to lower the barrier to entry and meet the programming needs of non-professional users. However, taking collaborative robots as an example, due to the complexity of their application scenarios, users often need to process a large number of instructions and data during development, resulting in large and complex programs. Furthermore, limited by the hardware performance of the collaborative robot controller, the compilation and loading efficiency of the program cannot meet real-time business requirements, leading to slow system response. In actual business scenarios, this latency directly affects the operating cycle of the collaborative robot, making it difficult to meet customers' high requirements for efficiency and accuracy.

[0061] Research has shown that efficient task scheduling and operational optimization have become key to improving the performance of collaborative robots. However, current optimization techniques for programming systems mostly focus on improving single algorithms, without fully considering the potential for reusing compilation results. Therefore, how to shorten compilation time and improve operational efficiency by storing and managing compilation results has become an urgent problem to be solved.

[0062] In view of this, in order to solve the problem of low compilation and running efficiency in robot programming, the management and reuse mechanism of program compilation results can be optimized to reduce the time for program loading and running, thereby improving the robot's response efficiency.

[0063] In one embodiment, such as Figure 1 As shown, a robot task processing method is provided. Taking the application of this method to a robot control system as an example, it includes the following steps:

[0064] S102, Obtain the robot's current task information.

[0065] In this embodiment, the current task information refers to information related to the task the robot is about to perform. This information includes, but is not limited to, the task type and the corresponding task execution parameters. The task type may include handling tasks, assembly tasks, welding tasks, painting tasks, etc. Task execution parameters may include the task start point and end point, the motion trajectory, and speed and acceleration, etc.

[0066] S104, based on the mapping relationship between task type and compiled file information, determines the target compiled file information that matches the current task information.

[0067] The mapping relationship between task types and compiled file information includes multiple task types and the compiled file information corresponding to each task type. Compiled file information refers to information related to the compiled file, which may include, but is not limited to, the file hash value and version number of the compiled file. The compiled file is used to represent the compilation result of the source program corresponding to the task type.

[0068] In one embodiment, if the current task information includes the current task type, then based on the mapping relationship between task types and compiled file information, the task type that matches the current task type is determined from multiple task types; and the compiled file information corresponding to the matching task type in the mapping relationship is determined as the target compiled file information that matches the current task information.

[0069] S106, Based on the matching results between the target compiled file information and each compiled file in the cache pool, determine the target control file that matches the current task information.

[0070] The cache pool corresponds to the hard disk storage space, and the cache pool includes multiple compiled files, that is, multiple compiled files are stored in the hard disk storage space; each compiled file is used to implement robot tasks of different task types, and each compiled file is obtained by compiling the source program corresponding to each task type.

[0071] Among them, the target control file refers to the file that controls the robot to perform target actions that match the current task information. The implementation method of determining the target control file that matches the current task information is not limited based on the matching results between the target compilation file information and each compilation file in the cache pool. The following are examples of several methods.

[0072] In one embodiment, the cache pool also stores configuration files corresponding to each compiled file. The configuration files include relevant parameters required to run the compiled file. The target compiled file information includes the file hash value of the target compiled file. The target compiled file refers to the compiled file that matches the current task information. That is, based on the target compiled file, the robot can be controlled to perform the target action that matches the current task information.

[0073] Specifically, for each compiled file in the cache pool, if the file hash value of the compiled file matches the file hash value of the target compiled file, the matching compiled file and the configuration file corresponding to the matching compiled file are determined as the target control file that matches the current task information.

[0074] In one embodiment, if the target compiled file information includes the file version number of the target compiled file, then for each compiled file in the cache pool, if the file version number of the compiled file is consistent with the file version number of the target compiled file, the matching compiled file and the configuration file corresponding to the matching compiled file are determined as the target control file that matches the current task information.

[0075] S108 controls the robot to perform target actions that match the current task information based on the target control file.

[0076] By running the target control file, the robot can be controlled to perform target actions that match the current task information. Target actions refer to actions related to the current task information. For example, target actions may include, but are not limited to, welding actions corresponding to welding tasks, gripper actions corresponding to gripper tasks, etc.

[0077] In some embodiments, the target control file includes a compiled file that matches the current task information and a configuration file corresponding to the compiled file. By running the compiled file and the configuration file, the robot can perform the robot task corresponding to the current task information.

[0078] based on Figure 1The method described above obtains the robot's current task information, determines the target compiled file information matching the current task information based on the mapping relationship between task type and compiled file information, and determines the target control file matching the current task information based on the matching results between the target compiled file information and the compiled files in the cache pool. Finally, the robot is controlled to execute the target action matching the current task information based on the target control file. Therefore, by using the already compiled files in the cache pool to determine the target control file matching the current task information, the overhead of repeated compilation can be avoided, reducing program loading and running time and improving the robot's response efficiency.

[0079] In one embodiment, the target compiled file information includes: the file hash value and / or file version number of the target compiled file. Based on the matching results between the target compiled file information and the compiled files in the cache pool, the implementation method of the target control file matching the current task information (i.e., S106) is determined, which can be as follows: Figure 2 As shown, it includes the following steps:

[0080] S202: For each compiled file in the cache pool, if the compiled file matches the file hash value and / or file version number of the target compiled file, then the matching compiled file is determined as a candidate compiled file.

[0081] Specifically, obtain the file hash value and / or file version number of each compiled file in the cache pool; if the file hash value of the compiled file is consistent with the file hash value of the target compiled file, or if the file version number of the compiled file is consistent with the file version number of the target compiled file, or if the file hash value of the compiled file is consistent with the file hash value of the target compiled file and the file version number of the compiled file is consistent with the file version number of the target compiled file, then it is determined that the compiled file matches the target compiled file, and the matched compiled file is determined as a candidate compiled file.

[0082] S204. If the storage duration of the candidate compilation file is less than or equal to the duration threshold, then the candidate compilation file and the configuration file corresponding to the candidate compilation file are determined as the target control file that matches the current task information.

[0083] The storage duration of candidate compiled files refers to the length of time they are stored in the cache pool. There are no restrictions on how to obtain the storage duration of candidate compiled files; the following examples illustrate possible implementations.

[0084] In one embodiment, the storage duration of a candidate compiled file can be obtained based on the mapping relationship between the compiled file and the storage duration.

[0085] In one embodiment, if the storage duration of each compiled file in the duration database is obtained, then the storage duration of the candidate compiled file is obtained from the storage duration of each compiled file based on the file hash value and / or file version number of the candidate compiled file.

[0086] Furthermore, if the storage duration of the candidate compiled file is less than or equal to the duration threshold, the file status of the candidate compiled file in the cache pool can be determined to be available, that is, there is an available compiled file in the cache pool that matches the information of the target compiled file, and the available compiled file is a candidate compiled file.

[0087] There are no restrictions on how to obtain the configuration file corresponding to the candidate compilation file. The following examples illustrate several methods.

[0088] In one embodiment, the cache pool stores the configuration files corresponding to each compiled file, so the configuration files corresponding to the candidate compiled files can be obtained from the cache pool.

[0089] In one embodiment, based on the mapping relationship between the compiled file address and the configuration file address, the configuration file corresponding to the candidate compiled file is obtained from the configuration file address that matches the candidate compiled file.

[0090] based on Figure 2 The content shown describes how, by using the file hash value and / or file version number of the compiled file, candidate compiled files that match the target compiled file corresponding to the current task type in the cache pool are determined. Furthermore, the availability of candidate compiled files is determined by whether they have expired. If they have not expired, the candidate compiled file and its corresponding configuration file are identified as the target control file. Thus, by skipping the compilation process, the response efficiency of robot control can be improved.

[0091] Combination Figure 2 As shown, if a usable compiled file matching the target compiled file information exists in the cache pool, the target control file can be determined based on the cache pool. In another embodiment, if no usable compiled file matching the target compiled file information exists in the cache pool, such as... Figure 3 As shown, based on the matching results between the target compiled file information and each compiled file in the cache pool, the implementation method of the target control file (i.e., S106) that matches the current task information is determined, including the following steps:

[0092] S302: For each compiled file in the cache pool, if there is no available compiled file in the cache pool that matches the target compiled file information, then obtain the target source program corresponding to the target compiled file information from multiple source programs.

[0093] There are no restrictions on the methods used to determine that there is no available compiled file in the cache pool that matches the target compiled file information. Examples of these methods will be given below.

[0094] In one embodiment, if any compiled file in the cache pool does not match the target compiled file information, it is determined that there is no available compiled file in the cache pool that matches the target compiled file information. For example, if the target compiled file information includes the file hash value and / or file version number of the target compiled file, then if the file hash value and / or file version number of any compiled file in the cache pool does not match the file hash value and / or file version number of the target compiled file, it is determined that there is no available compiled file in the cache pool that matches the target compiled file information.

[0095] In one embodiment, if there is a compiled file in the cache pool that matches the information of the target compiled file, and the storage duration of the matching compiled file is greater than the duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the information of the target compiled file.

[0096] There are no restrictions on the methods for obtaining the target source program corresponding to the target compiled file information from multiple source programs. The following examples illustrate several of these methods.

[0097] In one embodiment, the storage address of each source program is obtained, and based on the mapping relationship between the source program storage address and the task type, the target source program corresponding to the target compiled file information is obtained from the source program storage address that matches the task type in the current task information.

[0098] In one embodiment, if the target compiled file information includes the file hash value of the target compiled file, then based on the mapping relationship between the source program and the file hash value, the source program that matches the file hash value of the target compiled file is determined as the target source program corresponding to the target compiled file information.

[0099] In one embodiment, if the target compiled file information includes the file version number of the target compiled file, then based on the mapping relationship between the source program and the file version number, the source program that matches the file version number of the target compiled file is determined as the target source program corresponding to the target compiled file information.

[0100] S304 compiles the target source program, obtaining the target compiled file and the corresponding configuration file.

[0101] There are no restrictions on how the target source program is compiled to obtain the target compiled file and the corresponding configuration file. The following examples illustrate several of these methods.

[0102] In one embodiment, the target source program can be compiled using a compiler to obtain the target compiled file and its corresponding configuration file. The type of compiler is not limited; for example, it can include a Clang compiler, a javac compiler, etc.

[0103] In one embodiment, the target source program can be compiled based on an Integrated Development Environment (IDE) to obtain the target compiled file and the configuration file corresponding to the target compiled file.

[0104] S306 identifies the target compilation files and configuration files as the target control files that match the current task information.

[0105] and Figure 2 The method shown is different in that it is based on Figure 3 The method shown can obtain the target control file matching the current task information by compiling the source program normally when there is no available compilation file matching the target compilation file information in the cache pool, thereby improving the reliability of robot task processing.

[0106] based on Figure 3 It is understood that if no available compiled file matching the target compiled file information exists in the cache pool, the target compiled file and configuration file can be obtained by compiling the target source program. Furthermore, in one embodiment, the target compiled file and configuration file are stored in the cache pool, thereby ensuring that the cache pool contains available compiled files matching the target compiled file information for future use. This improves the processing efficiency of robot tasks and further enhances the robot's response efficiency.

[0107] In one embodiment, if a compiled file in the cache pool matches the target compiled file information and the storage duration of the matching compiled file is greater than the duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information. In this case, while storing the target compiled file and configuration file in the cache pool, the compiled file in the cache pool that matches the target compiled file information and has a storage duration greater than the duration threshold is deleted. This can improve the matching efficiency of compiled files in the cache pool and further improve the robot's response efficiency.

[0108] In one embodiment, if the source program is deleted, the compiled file corresponding to the source program in the cache pool is deleted to ensure program version consistency and prevent file execution errors due to inconsistency.

[0109] In one embodiment, such as Figure 4As shown, a robot task processing method is provided. Taking the application of this method to a robot control system as an example, it includes the following steps:

[0110] S402, retrieve configuration parameters that match the current task information.

[0111] The configuration parameters refer to the parameters set to achieve the robot task corresponding to the current task information. The format of the configuration parameters can be a serialized binary format.

[0112] The method for obtaining configuration parameters that match the current task information is not limited. For example, if the current task information includes a task type, then based on the correspondence between preset task types and preset configuration parameters, the preset configuration parameters that match the task type in the current task information are determined as the configuration parameters that match the current task information. The preset configuration parameters can be set based on different application scenarios of the robot, and the number of preset configuration parameters can be at least one.

[0113] S404 maps configuration parameters to a structure that matches the current task information based on the correspondence between task type and structure, thus obtaining the configuration file.

[0114] Specifically, if the current task information includes the task type, then based on the correspondence between the task type and the structure, the configuration parameters are mapped to the structure that matches the task type in the current task information, thus obtaining the configuration file.

[0115] based on Figure 4 The method shown improves loading speed and further enhances robot response efficiency by mapping configuration parameters to structures that match the current task information, compared to parsing the source code.

[0116] In light of the above, in one embodiment, taking a collaborative robot as an example, such as... Figure 5 As shown, a robot task processing method is provided. Taking the application of this method to a robot control system as an example, it includes the following steps:

[0117] S502, obtain the current task information of the collaborative robot, including the task type.

[0118] S504 determines the target compiled file information that matches the task type in the current task information based on the mapping relationship between task type and compiled file information.

[0119] S506, determine whether there is a usable compilation file in the cache pool that matches the target compilation file information.

[0120] If a usable compilation file matching the target compilation file information exists in the cache pool, then S508 is executed; otherwise, S510 is executed.

[0121] Specifically, for each compiled file in the cache pool, if the file hash value and / or file version number of the compiled file matches the target compiled file, the matching compiled file is determined as a candidate compiled file; if the storage duration of the candidate compiled file is less than or equal to the duration threshold, the candidate compiled file is determined as a usable compiled file. In other words, the candidate compiled file is the target compiled file, and the target compiled file is stored in the cache pool.

[0122] Specifically, for each compiled file in the cache pool, if any compiled file in the cache pool does not match the target compiled file information, it is determined that there is no available compiled file in the cache pool that matches the target compiled file information, that is, the target compiled file is not stored in the cache pool.

[0123] Specifically, for each compiled file in the cache pool, if there is a compiled file in the cache pool that matches the information of the target compiled file, and the storage duration of the matching compiled file is greater than the duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the information of the target compiled file.

[0124] S508 identifies the available compiled files and the configuration files corresponding to the available compiled files in the cache pool as the target control files that match the current task information.

[0125] S510 obtains the target source program corresponding to the target compiled file information from multiple source programs.

[0126] S512 compiles the target source program, obtains the target compiled file and the corresponding configuration file, and identifies the target compiled file and configuration file as the target control file that matches the current task information.

[0127] S514 controls the collaborative robot to perform target actions that match the current task information based on the target control file.

[0128] The specific content of S502-S514 can be found in the aforementioned description and will not be repeated here.

[0129] based on Figure 5As shown, to address the issue of low compilation and execution efficiency in collaborative robot programming, the management and reuse mechanism of program compilation results is optimized. This involves storing and managing already compiled target files, which are then directly loaded during subsequent runtime, avoiding redundant compilation. This significantly shortens program loading and execution time, improving the robot's response speed. For example, it can enhance the operational efficiency of collaborative robots in complex business scenarios, better meeting customers' high requirements for cycle time performance and task execution accuracy.

[0130] Moreover, the method provided in this application can significantly shorten program loading time, improve operating efficiency and stability, and meet the actual business requirements for response speed and cycle accuracy, especially in scenarios where collaborative robots frequently switch tasks or run programs.

[0131] Furthermore, this application avoids the overhead of repeated compilation by caching already compiled object files, significantly reducing program loading and execution time. For example, in scenarios with frequent task switching, the program switching time can be reduced to a fraction of that of traditional methods, effectively meeting the high-speed requirements of applications such as high-paced production lines and real-time scheduling. Simultaneously, by reducing the compilation workload, hardware resource utilization can be further optimized, reducing the energy consumption of the robot control system and helping to extend the equipment's lifespan. For instance, in a dynamic production environment, when collaborative robots need to quickly switch between multiple tasks (such as assembly, handling, and inspection), traditional compilation methods lead to significant delays. However, the method provided in this application, through caching and reuse technology, enables almost second-level response for each task switch, thereby greatly improving the overall operating efficiency of the robot control system.

[0132] As can be seen from the above, the method provided in this application is suitable for the application of collaborative robots in complex business scenarios. Currently, collaborative robots often need to face complex and ever-changing task environments. For example, in the manufacturing industry, they need to handle multiple different workpieces, involving complex path planning and execution tasks; in the logistics industry, robots need to dynamically adapt to changes in sorting rules and adjustments to handling paths; in the service industry, robots may need to perform fine motion operations according to real-time needs, such as medical assistance or precise delivery of items.

[0133] To address the aforementioned scenarios, the technical solution provided in this application enables the robot control system to quickly adapt to different task requirements through efficient management of target compiled files and configuration files, while simultaneously ensuring both efficiency and flexibility. For example, by rapidly loading serialized configuration files, the system can easily handle complex situations such as changes in sensor parameters and replacement of end-effectors, thereby enhancing the robot's adaptability to dynamic environments.

[0134] Moreover, the technical solution provided in this application possesses good versatility and scalability, and can be implemented on different types of collaborative robots and controller platforms. This universality is mainly reflected in the following aspects:

[0135] Multi-scenario compatibility: Whether it is an automated production line in the industrial field or a flexible task allocation in the service field, the technical solution provided in this application can be effectively adapted and significantly optimize task scheduling efficiency.

[0136] Hardware independence: Since the cache pool only depends on the support of the storage device, it has a low degree of coupling with the specific hardware platform, so it can be easily ported to robot controllers from different manufacturers.

[0137] Future Scalability: As robotics technology further develops, the complexity and diversity of tasks will continue to increase. This technical solution provides basic architectural support for subsequent complex applications. For example, in multi-robot collaborative scenarios, the technical solution provided in this application can serve as the underlying support module for task scheduling, enabling multi-task cache sharing and efficient switching.

[0138] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0139] Based on the same inventive concept, this application also provides a robot task processing apparatus for implementing the robot task processing method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more robot task processing apparatus embodiments provided below can be found in the limitations of the robot task processing method described above, and will not be repeated here.

[0140] In one embodiment, such as Figure 6 As shown, a robot task processing device is provided, including: an acquisition module 602, a determination module 604, a processing module 606, and a control module 608, wherein:

[0141] The acquisition module 602 is used to acquire the robot's current task information.

[0142] The determination module 604 is used to determine the target compiled file information that matches the current task information based on the mapping relationship between task type and compiled file information.

[0143] The processing module 606 is used to determine the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool.

[0144] The control module 608 is used to control the robot to perform a target action that matches the current task information based on the target control file.

[0145] In one embodiment, the target compiled file information includes: the file hash value and / or file version number of the target compiled file; the processing module is further configured to: for each compiled file in the cache pool, if the compiled file matches the file hash value and / or file version number of the target compiled file, then determine the matching compiled file as a candidate compiled file; if the storage duration of the candidate compiled file is less than or equal to a duration threshold, then determine the candidate compiled file and the configuration file corresponding to the candidate compiled file as the target control file matching the current task information.

[0146] In one embodiment, the processing module is further configured to: for each compiled file in the cache pool, if there is no available compiled file in the cache pool that matches the target compiled file information, obtain the target source program corresponding to the target compiled file information from multiple source programs; compile the target source program to obtain the target compiled file and the configuration file corresponding to the target compiled file; and determine the target compiled file and the configuration file as the target control file that matches the current task information.

[0147] In one embodiment, the processing module is further configured to perform any one of the following: First, if any of the compiled files in the cache pool does not match the target compiled file information, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information; Second, if there is a compiled file in the cache pool that matches the target compiled file information, and the storage duration of the matching compiled file is greater than a duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information.

[0148] In one embodiment, the processing module is further configured to perform at least one of the following: first, storing the target compiled file and the configuration file in the cache pool; second, deleting the compiled file corresponding to the source program in the cache pool if the source program is deleted.

[0149] In one embodiment, the processing module is further configured to: obtain configuration parameters matching the current task information; and map the configuration parameters to a structure matching the current task information based on the correspondence between task type and structure to obtain the configuration file.

[0150] Each module in the aforementioned robot task processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0151] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data such as current task information. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a robot task processing method.

[0152] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0153] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring current task information of a robot; determining target compiled file information matching the current task information based on a mapping relationship between task type and compiled file information; determining a target control file matching the current task information based on the matching results between the target compiled file information and each compiled file in a cache pool; and controlling the robot to perform a target action matching the current task information based on the target control file.

[0154] In one embodiment, the target compiled file information includes: the file hash value and / or file version number of the target compiled file; when the processor executes the computer program, it further implements the following steps: for each compiled file in the cache pool, if the compiled file matches the file hash value and / or file version number of the target compiled file, then the matching compiled file is determined as a candidate compiled file; if the storage duration of the candidate compiled file is less than or equal to the duration threshold, then the candidate compiled file and the configuration file corresponding to the candidate compiled file are determined as the target control file matching the current task information.

[0155] In one embodiment, when the processor executes the computer program, it further performs the following steps: for each compiled file in the cache pool, if there is no available compiled file in the cache pool that matches the target compiled file information, then obtain the target source program corresponding to the target compiled file information from multiple source programs; compile the target source program to obtain the target compiled file and the configuration file corresponding to the target compiled file; and determine the target compiled file and the configuration file as the target control file that matches the current task information.

[0156] In one embodiment, when the processor executes the computer program, it further implements any one of the following steps: First, if any of the compiled files in the cache pool does not match the target compiled file information, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information; Second, if there is a compiled file in the cache pool that matches the target compiled file information, and the storage duration of the matching compiled file is greater than a duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information.

[0157] In one embodiment, when the processor executes the computer program, it further performs any one of the following steps: first, storing the target compiled file and the configuration file in the cache pool; second, deleting the compiled file corresponding to the source program in the cache pool if the source program is deleted.

[0158] In one embodiment, when the processor executes a computer program, it further performs the following steps: obtaining configuration parameters that match the current task information; mapping the configuration parameters to a structure that matches the current task information based on the correspondence between task type and structure, thereby obtaining the configuration file.

[0159] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: obtaining current task information of a robot; determining target compiled file information that matches the current task information based on the mapping relationship between task type and compiled file information; determining a target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool; and controlling the robot to perform a target action that matches the current task information based on the target control file.

[0160] In one embodiment, the target compiled file information includes: the file hash value and / or file version number of the target compiled file; when the computer program is executed by the processor, it further implements the following steps: for each compiled file in the cache pool, if the compiled file matches the file hash value and / or file version number of the target compiled file, then the matching compiled file is determined as a candidate compiled file; if the storage duration of the candidate compiled file is less than or equal to the duration threshold, then the candidate compiled file and the configuration file corresponding to the candidate compiled file are determined as the target control file matching the current task information.

[0161] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each compiled file in the cache pool, if there is no available compiled file in the cache pool that matches the target compiled file information, then obtain the target source program corresponding to the target compiled file information from multiple source programs; compile the target source program to obtain the target compiled file and the configuration file corresponding to the target compiled file; and determine the target compiled file and the configuration file as the target control file that matches the current task information.

[0162] In one embodiment, when the computer program is executed by the processor, it further implements any one of the following steps: First, if any of the compiled files in the cache pool does not match the target compiled file information, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information; Second, if there is a compiled file in the cache pool that matches the target compiled file information, and the storage duration of the matching compiled file is greater than a duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information.

[0163] In one embodiment, when the computer program is executed by the processor, it further performs any one of the following steps: first, storing the target compiled file and the configuration file in the cache pool; second, deleting the compiled file corresponding to the source program in the cache pool if the source program is deleted.

[0164] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining configuration parameters that match the current task information; mapping the configuration parameters to a structure that matches the current task information based on the correspondence between task type and structure, thereby obtaining the configuration file.

[0165] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0166] Obtain the robot's current task information; determine the target compiled file information that matches the current task information based on the mapping relationship between task type and compiled file information; determine the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool; control the robot to perform the target action that matches the current task information based on the target control file.

[0167] In one embodiment, the target compiled file information includes: the file hash value and / or file version number of the target compiled file; when the computer program is executed by the processor, it further implements the following steps: for each compiled file in the cache pool, if the compiled file matches the file hash value and / or file version number of the target compiled file, then the matching compiled file is determined as a candidate compiled file; if the storage duration of the candidate compiled file is less than or equal to the duration threshold, then the candidate compiled file and the configuration file corresponding to the candidate compiled file are determined as the target control file matching the current task information.

[0168] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each compiled file in the cache pool, if there is no available compiled file in the cache pool that matches the target compiled file information, then obtain the target source program corresponding to the target compiled file information from multiple source programs; compile the target source program to obtain the target compiled file and the configuration file corresponding to the target compiled file; and determine the target compiled file and the configuration file as the target control file that matches the current task information.

[0169] In one embodiment, when the computer program is executed by the processor, it further implements any one of the following steps: First, if any of the compiled files in the cache pool does not match the target compiled file information, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information; Second, if there is a compiled file in the cache pool that matches the target compiled file information, and the storage duration of the matching compiled file is greater than a duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information.

[0170] In one embodiment, when the computer program is executed by the processor, it further performs any one of the following steps: first, storing the target compiled file and the configuration file in the cache pool; second, deleting the compiled file corresponding to the source program in the cache pool if the source program is deleted.

[0171] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining configuration parameters matching the current task information; mapping the configuration parameters to a structure matching the current task information based on the correspondence between task types and structures, thereby obtaining the configuration file. It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0172] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0173] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0174] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot task processing method, characterized in that, The method includes: Obtain the robot's current task information; Based on the mapping relationship between task type and compiled file information, determine the target compiled file information that matches the current task information; Based on the matching results between the target compiled file information and each compiled file in the cache pool, the target control file that matches the current task information is determined. Based on the target control file, the robot is controlled to perform target actions that match the current task information.

2. The method according to claim 1, characterized in that, The target compiled file information includes: the file hash value and / or file version number of the target compiled file; The step of determining the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool includes: For each compiled file in the cache pool, if the compiled file matches the file hash value and / or file version number of the target compiled file, then the matching compiled file is determined as a candidate compiled file; If the storage duration of the candidate compilation file is less than or equal to the duration threshold, then the candidate compilation file and the configuration file corresponding to the candidate compilation file are determined as the target control file that matches the current task information.

3. The method according to claim 1, characterized in that, The step of determining the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool includes: For each compiled file in the cache pool, if there is no available compiled file in the cache pool that matches the target compiled file information, then the target source program corresponding to the target compiled file information is obtained from multiple source programs; Compile the target source program to obtain the target compiled file and the configuration file corresponding to the target compiled file; The target compiled file and the configuration file are identified as the target control file that matches the current task information.

4. The method according to claim 3, characterized in that, The method further includes any one of the following: First item: If any of the compiled files in the cache pool does not match the target compiled file information, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information; Second item: If the cache pool contains a compiled file that matches the target compiled file information, and the storage duration of the matching compiled file is greater than the duration threshold, then it is determined that there is no available compiled file in the cache pool that matches the target compiled file information.

5. The method according to claim 3, characterized in that, The method further includes at least one of the following: First item: The target compiled file and the configuration file are stored in the cache pool; Second item: If the source program is deleted, the compiled file corresponding to the source program in the cache pool is also deleted.

6. The method according to any one of claims 2 to 4, characterized in that, The method further includes: Obtain the configuration parameters that match the current task information; Based on the correspondence between task type and structure, the configuration parameters are mapped to a structure that matches the current task information to obtain the configuration file.

7. A robot task processing device, characterized in that, The device includes: The acquisition module is used to acquire the robot's current task information; The determination module is used to determine the target compiled file information that matches the current task information based on the mapping relationship between task type and compiled file information; The processing module is used to determine the target control file that matches the current task information based on the matching results between the target compiled file information and each compiled file in the cache pool; The control module is used to control the robot to perform target actions that match the current task information based on the target control file.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images