A robot scheduling method, electronic device and storage medium

Abstract

The application provides a robot scheduling method, an electronic device and a storage medium, and relates to the technical field of industrial control. The method comprises the following steps: being applied to a robot scheduling system, the robot scheduling system comprising robots and at least one workbench. The robots are used for performing a goods taking or delivering task, and a target workbench is a workbench that needs to perform the goods taking or delivering task. The method comprises the following steps: determining the position of the target workbench, the workbench buffer time corresponding to the target workbench, and the positions of the robots. In the case that the workbench buffer time is less than or equal to a preset time threshold, according to the positions of the robots, the position of the target workbench and the workbench buffer time, the work cost value of each robot when performing the target work task is determined. The robot with the minimum work cost value among the robots is determined as a target robot, and a scheduling instruction is sent to the target robot.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and in particular to a robot scheduling method, electronic device, and storage medium. Background Technology

[0002] In smart manufacturing and smart logistics scenarios, autonomous mobile robots undertake the task of material handling on the production line, and their scheduling efficiency directly affects the continuity of production.

[0003] Currently, robot scheduling systems generally adopt task-triggered scheduling logic: after a material handling task is officially generated, the system allocates resources based on the path distance between the robot's current location and the task point, and the robot then starts driving to execute the task.

[0004] However, in this method, the robot's response is delayed, and the supply of materials to the production line cannot be effectively guaranteed. Summary of the Invention

[0005] This application provides a robot scheduling method, electronic device, and storage medium for proactively responding to material supply on the production line.

[0006] In a first aspect, this application provides a robot scheduling method applied to a robot scheduling system, the robot scheduling system including a robot and at least one workstation; the robot is used to perform a pickup task or a delivery task, and the workstation is the workstation used when performing the pickup task or delivery task; the method includes: Determine the location of the target workstation, the corresponding work buffer time for the target workstation, and the location of each robot; the target workstation is the workstation assigned to perform the target work task, and the work buffer time is the remaining time before the target workstation performs the target work task, used to indicate the urgency of the current work of the target workstation; When the task buffer time is less than or equal to a preset time threshold, the task cost value of each robot when performing the target task is determined based on the position of each robot, the position of the target work station, and the task buffer time; the task cost value is used to measure the priority of each robot in performing the target task. The robot with the lowest operating cost among all robots is identified as the target robot, and a scheduling instruction is sent to the target robot. The scheduling instruction is used to instruct the target robot to move to the target workbench and start executing the target operating task at the target workbench.

[0007] In the first aspect, by determining the location of the target workstation and the work buffer duration, scheduling is triggered when the buffer duration is less than or equal to a preset time threshold, directly linking the scheduling behavior to the actual urgency of the workstation. The operating cost value of each robot is determined based on the positions of each robot, the target workstation, and the work buffer duration. Scheduling instructions are assigned to the robot with the lowest cost value, enabling it to move to the target workstation in advance and begin work when the target task is executed. This process transforms the urgency of the workstation's material requirements into calculable scheduling parameters, ensuring that the robot arrives at the target workstation before the target task is officially generated. The production line does not need to wait for the robot to arrive from a distance after issuing a material request, achieving early response to material supply for the production line.

[0008] In conjunction with the first aspect, in one possible implementation, the operation cost value of each robot when performing the target operation task is determined based on the positions of each robot, the position of the target workstation, and the operation buffer time, including: Based on the positions of each robot and the target workbench, determine the movement path of each robot to the target workbench, and determine the distance of each robot to the target workbench based on the movement path; The operation cost is obtained by weighting the distance value and the operation buffer time value.

[0009] In this implementation, the movement path is determined by the position of each robot relative to the target workbench, and the distance value is obtained accordingly. The distance value is then weighted and summed with the work buffer time value to obtain the work cost value. The weighted summation method allows both distance and urgency to participate in cost evaluation within the same calculation framework. The closer the robot is to the target workbench and the shorter the remaining buffer time of the target workbench, the lower the cost value. The target robot selected thus has an overall advantage in terms of both travel time and the urgency of the target task.

[0010] In conjunction with the first aspect, in one possible implementation, the movement path of each robot to the target worktable is determined based on the positions of each robot and the target worktable, including: Based on the positions of each robot and the target workstation, multiple paths from each robot to the target workstation are determined; If the shortest path among multiple paths has no blocked sections, the shortest path will be used as the movement path. If there are blocked sections in the shortest path, the shortest detour path among multiple paths will be used as the movement path; If all paths in a multi-pathway network have blocked sections, the shortest path will be used as the movement path.

[0011] In this implementation, when determining the movement path of each robot to the target workstation, multiple paths are first identified. The shortest path is selected when there are no road closures; the shortest detour path is chosen when there are road closures; and the shortest path is still selected when all paths are blocked. This hierarchical path selection mechanism allows the robot to automatically adapt to the corresponding path when facing different road closure situations, improving the executability of scheduling instructions in the actual site environment.

[0012] In conjunction with the first aspect, in one possible implementation, if there is a blocked section in the target robot's movement path, the scheduling instruction instructs the target robot to move outside the blocked section and wait until the blocked section is unblocked, then move to the target workbench and start performing the work from the target workbench when the target workbench needs to perform the work.

[0013] In this implementation, when a blocked section exists in the target robot's movement path, a scheduling command instructs the target robot to move outside the blocked section and wait until the blocked section is unblocked. Once unblocked, the robot moves to the target workstation and begins performing its tasks. Waiting outside the blocked section avoids the robot being stuck due to path obstruction, and after the blockage is lifted, it can continue to the target workstation and begin performing its tasks, thus achieving a safe connection between the robot's standby position and the workstation.

[0014] In conjunction with the first aspect, in one possible implementation, the method further includes: In the event that the target task is cancelled or changed, a cancellation command is sent to the target robot. The cancellation command is used to instruct the target robot to cancel its movement to the target workbench. In the event of a change in the target task, after the target robot sends a cancellation command, the task cost value of each robot is updated, the target robot is re-determined based on the updated task cost value, and a scheduling command is sent to the re-determined target robot.

[0015] In this implementation, when a target task is cancelled, a cancellation command is sent to the target robot, causing it to move to the target workstation. When the target task changes, a cancellation command is sent, the task cost value of each robot is updated, a new target robot is determined, and a scheduling command is sent. The cancellation command ensures that the original target robot responds to the scheduling arrangement in a timely manner. Updating the cost value and determining the new target robot ensures that the changed target task can be matched with a new optimal robot. This process transmits task changes to the scheduling decision in real time, maintaining consistency between the scheduling plan and the actual production status.

[0016] In conjunction with the first aspect, in one possible implementation, the scheduling instruction includes a first instruction and a second instruction. The first instruction is used to instruct the target robot to move to the target workbench and report the arrival information, and the second instruction is used to instruct the target robot to start executing the target workbench when performing the target work task.

[0017] In this implementation, a first instruction instructs the target robot to move to the target workbench and report its arrival information. A second instruction instructs the target robot to begin executing the target task when it is ready to perform the task. After the robot moves to the target workbench and reports its arrival information, the scheduling system obtains the robot's positioning status and issues a second instruction to trigger execution when the target task needs to be performed. The movement process and the execution process are separated into two independently controllable stages.

[0018] In conjunction with the first aspect, in one possible implementation, the job buffer duration is determined based on the real-time job duration of the target job station and the job prediction model; The job prediction model is constructed in the following way: Obtain the historical operation time series of the target workstation; A job prediction model is established based on the historical job time series.

[0019] In this implementation, the historical operation time series of the target workstation is obtained and an operation prediction model is established. Then, the operation buffer duration is determined based on the real-time operation duration of the target workstation and the prediction model. The historical operation time series carries the time pattern of the target operation tasks in the past, and the buffer duration output by the prediction model based on this series is supported by historical data.

[0020] In conjunction with the first aspect, in one possible implementation, the method further includes: When at least one robot's battery power is less than a preset power threshold and it is in a predicted idle period, the charging cost of the robot is determined based on the distance between the robot's location and the charging station location and the charging time required for the robot. The predicted idle period is determined by an idle prediction model, which is established based on the historical power consumption data and future operation time information of each robot. The robot with the lowest charging cost is identified as the target charging robot, and a charging instruction is sent to the target charging robot, which is used to instruct the target charging robot to move to the charging station for charging.

[0021] In this implementation, when the robot's battery level is below a preset threshold and it is in a predicted idle period, the charging cost is determined based on the distance between the robot and the charging station and the charging time required. The robot with the lowest charging cost is identified as the target charging robot, and a charging command is sent to instruct it to move to the charging station. The battery threshold triggers the identification of charging demand, the predicted idle period ensures that charging does not overlap with peak production operations, the cost assessment based on distance and charging time prioritizes charging for robots that are closer and charge faster, and the charging command instructs the identified robot to perform the charging action according to the assessment results. The charging behavior and operational needs are coordinated in both time and resource dimensions.

[0022] Secondly, this application provides a robot scheduling device applied to a robot scheduling system, the robot scheduling system including a robot and at least one workstation; the robot is used to perform pickup or delivery operations, and the target workstation is the workstation that needs to perform the pickup or delivery operation; the device includes: The information acquisition module is used to determine the location of the target workbench, the corresponding work buffer time of the target workbench, and the location of each robot. The target workbench is the workbench assigned to perform the target work task, and the work buffer time is the remaining time before the target workbench performs the target work task, which is used to indicate the urgency of the current target work task of the target workbench. The cost determination module is used to determine the operation cost value of each robot when performing the target operation task, based on the position of each robot, the position of the target workstation, and the operation buffer time, when the operation buffer time is less than or equal to a preset time threshold. The operation cost value is used to measure the priority of each robot in performing the target operation task. The target scheduling module is used to identify the robot with the lowest operation cost among all robots as the target robot and send scheduling instructions to the target robot. The scheduling instructions are used to instruct the target robot to move to the target workbench and start executing the target operation task at the target workbench.

[0023] Thirdly, this application provides an electronic device comprising: a processor and a memory; the memory storing processor-executable instructions; when the processor is configured to execute the instructions, causing the electronic device to implement the method of the first aspect described above.

[0024] Fourthly, this application provides a computer-readable storage medium comprising: computer software instructions; which, when executed in an electronic device, cause the electronic device to implement the method described in the first aspect.

[0025] Fifthly, this application provides a computer program product comprising a computer program; when the computer program is run in an electronic device, the electronic device performs the method described in the first aspect.

[0026] The beneficial effects of the second to fifth aspects mentioned above are described in the corresponding description of the first aspect and will not be repeated here. Attached Figure Description

[0027] Figure 1 This application provides a schematic diagram of a robot scheduling system architecture. Figure 2 A flowchart illustrating a robot scheduling method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the composition of a robot scheduling device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the composition of an electronic device provided in an embodiment of this application. Detailed Implementation

[0028] The following is a detailed description of a robot scheduling method, electronic device, and storage medium provided in this application, with reference to the accompanying drawings.

[0029] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0030] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0031] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0032] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0033] To facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish the same or similar items with essentially the same function and effect. Those skilled in the art can understand that the terms "first" and "second" are not intended to limit the quantity or execution order.

[0034] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0035] In the fields of intelligent manufacturing and smart logistics, autonomous mobile robots (AMRs) are core equipment for material handling on production lines. The timeliness and rationality of their scheduling strategies directly affect the control of production rhythm and the efficiency of logistics. As factories increasingly demand flexible production and rapid response, how to efficiently schedule AMRs to perform material handling operations has become an important issue in this field.

[0036] The current AMR scheduling system used in the factory adopts a task-triggered scheduling mode. AMRs only depart from their current location to the task point to perform the work after the system officially issues a handling task, based on a preset path planning algorithm. During scheduling, AMRs strictly follow the instruction sequence execution logic; when there are no tasks, they remain in a standby state. The system does not have a pre-scheduling configuration module and can only allocate AMR resources based on real-time task instructions.

[0037] The above scheduling method has several shortcomings. First, AMRs only start moving after the task is officially issued. If the task point is far from the AMR's current location, the waiting time will be too long, especially in high-frequency operation scenarios where the lag problem is more prominent. Second, if subsequent tasks are not generated immediately after an AMR completes a single task, it will be idle and unable to take on potential tasks in the surrounding area during the gap time. Furthermore, the lack of a dynamic queuing strategy leads to some AMRs being excessively idle while others are congested, resulting in an uneven distribution of resources. Third, the system lacks work cycle adaptation functionality and cannot adjust the scheduling logic according to production rhythms such as day shifts, night shifts, and overtime hours. It also does not support the configuration of parameters such as pre-scheduled points and capacity, making it difficult to adapt to different production scenarios with multiple workstations and multiple material types. Fourth, dispatching vehicles relies solely on distance factors to plan the shortest path, without comprehensively considering the urgency of the tasks. This may lead to resource waste due to long waiting times for nearby tasks, while distant tasks, despite their urgency, may not receive priority responses, resulting in an imbalance in decision-making.

[0038] To address the aforementioned technical problems, this application provides a robot scheduling method, electronic device, and storage medium. The core idea is to determine the location of the target workstation and the work buffer duration, triggering scheduling when the buffer duration is less than or equal to a preset time threshold, thus directly linking the scheduling behavior to the actual urgency of the workstation. The operating cost value of each robot is determined based on the positions of each robot, the target workstation, and the work buffer duration. Scheduling instructions are assigned to the robot with the lowest cost value, enabling it to move to the target workstation in advance and begin work when the target task is executed. This process transforms the urgency of material demand at the workstation into calculable scheduling parameters, ensuring that the robot arrives at the target workstation before the target task is officially generated. The production line does not need to wait for the robot to arrive from a distance after issuing a material demand, achieving early response to material supply for the production line.

[0039] The embodiments provided in this application will now be described in detail with reference to the accompanying drawings.

[0040] This application also provides a robot scheduling system, such as... Figure 1 As shown, the robot scheduling system 10 may include: a scheduling control unit 101, a robot 102, and a workbench 103.

[0041] The scheduling control unit 101 is equipped with a central management system (CMS) and a robot control system (RCS). The CMS is responsible for importing production plan data, configuring scheduling parameters, and storing historical work records. The RCS is responsible for receiving scheduling instructions, managing robot status, and issuing specific movement and work commands to the robots. The scheduling control unit 101 is communicatively connected to both robots 102 and workstations 103. The scheduling control unit 101 establishes communication connections with each robot 102 (1021–102n) via the RCS to issue scheduling instructions, cancellation instructions, and charging instructions to each robot 102, and to receive location and arrival information reported by each robot 102. The scheduling control unit 101 establishes data connections with each workstation (1031–103n) via the CMS to obtain the work buffer time, work position, and historical work time sequence of each workstation.

[0042] Robot 102 is used to perform picking or delivery operations. Robot 102 can be a handling device capable of autonomous movement in a factory or warehouse environment, such as an AMR, which can autonomously plan its path and complete material handling tasks without human intervention. Multiple robots 102 are included, among which the target robot (1021-102n) selected by the scheduling control unit 101 receives scheduling instructions issued by the scheduling control unit 101 via RCS, moves from its current position to the location of the target workbench according to the scheduling instructions, reports its arrival information to the scheduling control unit 101 upon arrival at the target workbench, and begins performing the corresponding operation at the target workbench when the target workbench requires picking or delivery operations.

[0043] Workstations 103 include multiple workstations, among which those assigned to perform target tasks are designated as target workstations (1031-103n) and participate in scheduling. Each workstation periodically generates material requirements during production. When the material on a workstation is consumed to a certain extent, robot 102 needs to perform a delivery operation to replenish the workstation with new material; or, when a workpiece on a workstation completes processing and needs to be transferred to the next process, robot 102 needs to perform a retrieval operation to remove the material from the workstation and transport it to the downstream process. Each target workstation is configured with a corresponding work buffer duration, determined based on a prediction model established from the historical work time series of the target workstation. This prediction model is used to predict the timing of the next material demand or workpiece completion. The work positions of the target workstations are pre-stored in the CMS for the scheduling control unit 101 to retrieve.

[0044] The scheduling control unit 101 is used to determine the location of the target workstation, the corresponding work buffer time for the target workstation, and the location of each robot 102. The target workstation is the workstation assigned to perform the target task, and the work buffer time is the remaining time before the target workstation performs the target task, used to indicate the urgency of the current target task. The scheduling control unit 101 is also used to determine the work cost value of each robot 102 when performing the target task, based on the location of each robot 102, the location of the target workstation, and the work buffer time, when the work buffer time is less than or equal to a preset time threshold. The work cost value is used to measure the priority of each robot 102 in performing the target task. The scheduling control unit 101 is also used to determine the robot with the lowest work cost value among all robots 102 as the target robot and send a scheduling instruction to the target robot. The scheduling instruction instructs the target robot to move to the target workstation and begin performing the target task at the target workstation.

[0045] In some embodiments, the scheduling control unit 101 is further configured to determine the movement path of each robot 102 to the target workstation based on the position of each robot 102 and the position of the target workstation, and to determine the distance of each robot 102 to the target workstation based on the movement path. The scheduling control unit 101 is further configured to obtain the operation cost value by weighted summing of the distance value and the operation buffer time value.

[0046] In some embodiments, the scheduling control unit 101 is further configured to determine multiple paths from each robot 102 to the target workbench based on the positions of each robot 102 and the target workbench; if the shortest path among the multiple paths does not have any blocked sections, the shortest path is used as the movement path; if the shortest path has blocked sections, the shortest detour path among the multiple paths is used as the movement path; if each of the multiple paths has blocked sections, the shortest path is used as the movement path.

[0047] In some embodiments, if there is a blocked section in the target robot's movement path, the scheduling instruction instructs the target robot to move outside the blocked section and wait until the blocked section is unblocked, then move to the target workbench and start performing the work from the target workbench when the target workbench needs to perform the work.

[0048] In some embodiments, the scheduling control unit 101 is further configured to send a cancellation instruction to the target robot in the event of cancellation or change of the target task. The cancellation instruction is used to instruct the target robot to cancel its movement to the target workstation. The scheduling control unit 101 is also configured to, after sending the cancellation instruction to the target robot in the event of a change in the target task, update the task cost value of each robot 102, re-determine the target robot based on the updated task cost value, and send a scheduling instruction to the re-determined target robot.

[0049] In some embodiments, the scheduling instructions include a first instruction and a second instruction. The first instruction instructs the target robot to move to the target workstation and report its arrival information. The second instruction instructs the target robot to begin performing the target task at the target workstation.

[0050] In some embodiments, the job buffer duration is determined based on the real-time job duration of the target job station and the job prediction model. The scheduling control unit 101 is also configured to acquire the historical job time series of the target job station and establish a job prediction model based on the historical job time series.

[0051] In some embodiments, the scheduling control unit 101 is further configured to determine the charging cost of at least one robot 102 when its battery power is less than a preset power threshold and it is in a predicted idle period, based on the distance between the location of the robot 102 and the location of the charging pile and the charging time required for the robot 102. The predicted idle period is determined by an idle prediction model. The idle prediction model is established based on the historical power consumption data and future operation time information of each robot 102. The scheduling control unit 101 is further configured to identify at least one robot 102 with the lowest charging cost as the target charging robot and send a charging instruction to the target charging robot. The charging instruction is used to instruct the target charging robot to move to the charging pile for charging.

[0052] It should be noted that the system architecture described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of system architecture, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0053] See Figure 2 This is a flowchart illustrating a robot scheduling method provided in an embodiment of this application. Figure 2 As shown, the robot scheduling method provided in this application is applied to a robot scheduling system and can be implemented through the aforementioned scheduling control unit, specifically including the following steps S201~S203.

[0054] S201. Determine the location of the target workbench, the corresponding work buffer time of the target workbench, and the location of each robot.

[0055] The target workstation is the workstation assigned to perform the target task. The task buffer time is the remaining time before the target workstation performs the target task, used to indicate the urgency of the current target task. The robot is used to perform pickup or delivery tasks; the workstation is the workstation used when performing these tasks.

[0056] The scheduling control unit determines the target workstation, which is the workstation assigned to perform the target task. Robot scheduling methods can be applied to scenarios such as the final assembly workshop of an automobile factory, the production line of an electronic component factory, or the goods-to-person picking area in a smart warehouse. The scheduling control unit interacts with both the central management system (CMS) and the robot control system (RCS). The central management system is responsible for importing production plan data, configuring scheduling parameters, and storing historical work records. The robot control system is responsible for receiving scheduling instructions, managing robot status, and issuing specific movement and work commands to the robots. The scheduling control unit obtains the current position data of each robot on the work map from the RCS system. The scheduling control unit also obtains the pre-stored work position of the target workstation from the CMS system.

[0057] Robots are used to perform picking or delivery tasks. They can be handling devices capable of autonomous movement in a factory or warehouse environment, such as autonomous mobile robots (AMRs), which can plan their own paths and complete material handling tasks without human intervention. A target workstation is a workstation assigned to perform a specific task. Each workstation periodically generates material requirements during production. When the material on the workstation is consumed to a certain level, the robot needs to perform a delivery operation to replenish the workstation with new material; or, when a workpiece on the workstation is completed and needs to be transferred to the next process, the robot needs to perform a picking operation to remove the material from the workstation and transport it to the downstream process.

[0058] The task buffer duration is the remaining time before the target workstation executes its target task. It represents the length of time remaining from the current moment until the robot needs to perform a pickup or delivery operation at the target workstation. The task buffer duration indicates the urgency of the target task at the target workstation; a smaller value means the workstation is about to run out of materials and needs replenishment in a short time, indicating a higher urgency. A larger value indicates that the workstation still has sufficient materials, indicating a lower urgency. The task buffer duration is determined based on a prediction model built from the historical task time series of the target workstation. This prediction model is used to predict the timing of the next material demand.

[0059] After the scheduling and control unit determines the location of the target workstation, the corresponding work buffer time, and the positions of each robot, these three sets of data together constitute the basic information for subsequent scheduling decisions. Among them, the work buffer time is used to assess the urgency of the target task, the location of the target workstation is used to determine the target location of the target task, and the positions of each robot are used to assess the travel cost for each robot to reach the target location.

[0060] S202. When the operation buffer time is less than or equal to the preset time threshold, determine the operation cost value of each robot when performing the target operation task based on the position of each robot, the position of the target work station and the operation buffer time.

[0061] The task cost value is used to measure the priority of each robot in performing the target task. A preset time threshold is used to determine whether the target task corresponding to the target workstation is urgent enough to trigger pre-scheduling. This preset time threshold can be configured in the CMS; for example, its adjustable range is 60 seconds to 3600 seconds. When the task buffer time is less than or equal to the preset time threshold, it indicates that the target workstation will generate a pickup or delivery demand within the preset time threshold, and the target task is urgent enough to require advance scheduling of robots to stand by. Conversely, when the task buffer time is greater than the preset time threshold, it indicates that the target workstation still has sufficient materials or the workpiece is not yet completed, and pre-scheduling is not yet required.

[0062] When the task buffer time is less than or equal to a preset time threshold, the scheduling control unit determines the task cost value for each robot when performing the target task based on the robot's position, the target workstation's position, and the task buffer time. The task cost value measures the priority of each robot in performing the target task; the smaller the value, the lower the overall cost for the corresponding robot to perform the target task, and the higher the priority. The robot's position and the target workstation's position together reflect the travel cost required for each robot to reach the task execution location, while the task buffer time reflects the time urgency of the target task. The scheduling control unit incorporates travel cost and time urgency into the same calculation framework to calculate the task cost value for each robot separately.

[0063] S203. Determine the robot with the lowest operating cost among all robots as the target robot, and send a scheduling instruction to the target robot.

[0064] The scheduling command instructs the target robot to move to the target workstation and begin performing the target task at that workstation. After obtaining the task cost value for each robot, the scheduling control unit compares these values ​​and selects the robot with the lowest cost value as the target robot. The lowest cost value indicates that the robot has the optimal response efficiency in considering both distance travel and task urgency; that is, the robot can perform the current target task at the lowest overall cost. After determining the target robot, the scheduling control unit sends a scheduling command to it via the RCS. Upon receiving the scheduling command, the RCS issues it to the target robot, instructing it to move from its current location to the target workstation and begin performing the corresponding task at that workstation when it needs to pick up or deliver goods.

[0065] After receiving the scheduling instruction, the target robot plans its travel path and starts moving according to the location information of the target workbench carried in the instruction. When the target robot arrives at the target workbench, it waits there for the target task to be officially issued. When the material demand or workpiece transfer demand of the target workbench is officially generated, the target robot immediately begins to perform the picking or delivery operation at the target workbench without having to start from a distance again, thus realizing the time connection between pre-scheduling and task execution.

[0066] In this embodiment, by determining the location of the target workstation and the work buffer duration, scheduling is triggered when the buffer duration is less than or equal to a preset time threshold, directly linking the scheduling behavior to the actual urgency of the workstation. The operating cost value of each robot is determined based on its position, the target workstation location, and the work buffer duration. Scheduling instructions are assigned to the robot with the lowest cost value, enabling it to move to the target workstation in advance and begin work when the target task is executed. This process transforms the urgency of the workstation's material requirements into calculable scheduling parameters, ensuring that the robot arrives at the target workstation before the target task is officially generated. The production line does not need to wait for the robot to arrive from a distance after issuing a material request, achieving early response to material supply for the production line.

[0067] In some embodiments, based on determining the operation cost value of each robot when performing the target operation task, step S202 can be further implemented as follows: S2021. Based on the positions of each robot and the target workbench, determine the movement path of each robot to the target workbench, and determine the distance of each robot to the target workbench based on the movement path.

[0068] The scheduling and control unit plans a movement path from the current position to the target workbench for each robot on the work map based on the robot's position and the target workbench's position. The work map pre-stores the layout of aisles, passable areas, and information on various obstacles within the factory or warehouse. When planning the movement path, the scheduling and control unit generates a path scheme that the robots can traverse based on the topological connections between the robot's position coordinates and the target workbench's position coordinates. Path planning simultaneously follows the topological map's route rules, including constraints such as prioritizing forward movement and allowing non-omnidirectional robots to move along the route direction; it also adapts to accessibility restrictions, matching passable routes based on robot type and shelf type; and employs a route diversion strategy to avoid congestion caused by multiple robots traveling on the same section. After the movement path is determined, the scheduling and control unit calculates the distance from each robot to the target workbench based on the actual trajectory length of the movement path on the work map.

[0069] S2022. The operation cost value is obtained by weighted summing of the distance value and the operation buffer time value.

[0070] The scheduling control unit calculates the distance from each robot to the target workstation using S2021 and adds it to the work buffer time obtained in S201. The weighted sum is used as the work cost for each robot to perform the target task. The weighted sum is calculated using the following formula: cost = dis + α × rev_time, where cost represents the work cost, dis represents the distance from the robot to the target workstation, rev_time represents the work buffer time, and α represents the dynamic cost coefficient, used to balance the relative importance of distance and time factors in cost assessment. The default value of the dynamic cost coefficient is 1, and it can be manually adjusted in the CMS according to the production scenario. For example, suppose a robot is 5 meters from the target workbench, dis=5, has a buffer time of 30 seconds, rev_time=30, and α is set to the default value of 1. Then the robot's work cost is cost=5+1×30=35. Suppose another robot is 12 meters from the same target workbench, dis=12, has a buffer time of 5 seconds, rev_time=5, and α is set to the default value of 1. Then the robot's work cost is cost=12+1×5=17. The former cost=35 is greater than the latter cost=17, indicating that in the comprehensive evaluation, the latter has a higher priority in performing the target task. This method allows robots that are closer but have ample buffer time to receive a higher cost value, and robots that are farther but have a tighter buffer time to receive a lower cost value, thus balancing distance cost and task urgency when selecting the optimal robot.

[0071] In one possible implementation, the dynamic cost coefficient α can also be set as an adaptive variable. The scheduling control unit automatically adjusts the value of the dynamic cost coefficient based on the real-time task congestion level: when it detects a large number of tasks to be processed in the current time period and relatively scarce robot resources, it automatically increases the value of the dynamic cost coefficient, increasing the weight of the job buffer time in cost calculation and prioritizing rapid response to urgent tasks; when it detects a small number of tasks to be processed in the current time period and relatively abundant robot resources, it automatically decreases the value of the dynamic cost coefficient, increasing the weight of distance factors in cost calculation and prioritizing the allocation of tasks to robots that are closer, reducing robot idle mileage. This method replaces fixed coefficient values, enabling the cost model to adaptively adjust with changes in production rhythm and improving the flexibility of scheduling decisions.

[0072] In one possible implementation, a material threshold triggering method can be used to replace the triggering determination based on a preset time threshold in S202. The CMS acquires the remaining material quantity detected by the material sensors deployed on the target workstation in real time and compares this remaining material quantity with the preset material threshold. When the remaining material quantity is lower than the preset material threshold, the CMS immediately triggers pre-scheduling. The scheduling control unit determines the operating cost value of each robot and selects the target robot based on the position of each robot, the position of the target workstation, and the current operation buffer time. This method is suitable for production scenarios with large fluctuations in material consumption rate, and can trigger scheduling immediately when the material is about to run out, avoiding premature or late triggering due to the mismatch between the fixed time threshold and the fluctuating consumption.

[0073] In this embodiment, the movement path is determined by the position of each robot relative to the target workbench, and the distance value is obtained accordingly. The distance value and the work buffer time value are weighted and added together to obtain the work cost value. The weighted addition method allows both distance and urgency to participate in cost evaluation within the same calculation framework. The closer the robot is to the target workbench and the shorter the remaining buffer time of the target workbench, the lower the cost value. The target robot selected thus has an overall advantage in terms of both travel time and the urgency of the target work task.

[0074] In one possible implementation, based on determining the movement path according to the positions of each robot and the target workbench in S2021, the above step S2021 can be further implemented as follows: S20211. Based on the positions of each robot and the target workbench, determine multiple paths from each robot to the target workbench.

[0075] Based on the positions of each robot and the target workstation, the scheduling and control unit plans multiple passable paths from the current position to the target workstation for each robot on the work map. These paths include different routes and nodes, and each path satisfies the robot's mobility constraints. These multiple paths serve as the basic candidate set for subsequent path selection. If one path becomes impassable due to external factors, the scheduling and control unit can select other available paths from the candidate set, preventing scheduling commands from failing due to a single blocked path.

[0076] S20212. If there are no blocked sections on the shortest path among multiple paths, the shortest path shall be used as the moving path.

[0077] The scheduling and control unit selects the shortest path from the multiple paths determined in S20211 and checks whether there are any blocked sections on this shortest path. Blocked sections refer to road segments on the work map that are marked as impassable due to temporary control, equipment maintenance, safety zone delineation, or other reasons. If there are no blocked sections on the shortest path, the scheduling and control unit determines this shortest path as the movement path for subsequent distance calculations and robot navigation.

[0078] S20213. In the case of a road closure in the shortest path, the shortest detour path among multiple paths shall be used as the moving path.

[0079] When the scheduling and control unit detects a road closure on the shortest path determined in S20211, it filters out all passable paths that can bypass the closure from multiple paths, and selects the shortest path as the shortest detour path, which is then designated as the movement path. This method ensures that even when the shortest path is impassable, the robot can still reach the target workstation via an alternative path.

[0080] S20214. When all paths in a multi-pathway have blocked sections, the shortest path shall be used as the moving path.

[0081] The scheduling and control unit plans a movement path from the current position to the target workbench for each robot on the work map based on the robot's position and the target workbench's position. The work map pre-stores the layout of aisles, passable areas, and information on various obstacles within the factory or warehouse. When planning the movement path, the scheduling and control unit generates a path scheme that the robots can traverse based on the topological connections between the robot's position coordinates and the target workbench's position coordinates. Path planning simultaneously follows the topological map's route rules, including constraints such as prioritizing forward movement and allowing non-omnidirectional robots to move along the route direction; it also adapts to accessibility restrictions, matching passable routes based on robot type and shelf type; and employs a route diversion strategy to avoid congestion caused by multiple robots traveling on the same section. After the movement path is determined, the scheduling and control unit calculates the distance from each robot to the target workbench based on the actual trajectory length of the movement path on the work map.

[0082] In this embodiment, when determining the movement path of each robot to the target workstation, multiple paths are first identified. The shortest path is selected when there are no blocked sections; the shortest detour path is chosen when there are blocked sections on the shortest path; and the shortest path is still selected when all paths are blocked. This hierarchical path selection mechanism allows the robot to automatically adapt to the corresponding path when facing different blockage situations, improving the executability of scheduling instructions in the actual site environment.

[0083] In one possible implementation, if there is a blocked section in the target robot's movement path, the scheduling instruction instructs the target robot to move outside the blocked section and wait until the blocked section is unblocked. Then, the robot moves to the target workbench and starts performing the work from the target workbench when the workbench needs to perform the work.

[0084] When a blocked section exists on the target robot's movement path, this section is marked as impassable due to temporary control, equipment maintenance, or safety zone designation. In this case, the dispatch control unit generates a dispatch instruction carrying the location information of the blocked section and the location information of a waiting point outside the blocked section. This instructs the target robot to travel along the determined movement path to the outside of the blocked section and to stop and wait at the waiting point. While the target robot waits, the dispatch control unit continuously monitors the blocking status of the blocked section. When the blocked section is detected to be unblocked, the dispatch control unit sends a continue movement instruction to the target robot via the RCS, instructing the target robot to depart from the waiting point and continue to the target workstation via the blocked section. After arriving at the target workstation, the target robot waits there for the target work task to be officially issued. When the target workstation needs to perform a pickup or delivery operation, the target robot begins to perform the corresponding operation at the target workstation.

[0085] In this embodiment, when there is a blocked section in the target robot's movement path, a scheduling command instructs the target robot to move outside the blocked section and wait until the blocked section is unblocked. After that, the robot moves to the target workbench and begins to perform its work. Waiting outside the blocked section avoids the robot being stuck due to path obstruction. At the same time, after the blockage is lifted, the robot can continue to the target workbench and begin performing its target task, thus achieving a safe connection between the robot's standby position and the workbench.

[0086] In some embodiments, when the target robot has received a scheduling instruction and is performing a movement task, the status of the target task may change. After step S203 above, the robot scheduling method further includes: S301. In the event that the target task is cancelled or changed, a cancellation command is sent to the target robot. The cancellation command is used to instruct the target robot to cancel its movement to the target workbench.

[0087] When a target task is canceled or altered due to production plan adjustments, changes in material requirements, or process changes, the scheduling control unit sends a cancellation command to the target robot via the RCS (Regulatory Control System). This cancellation command carries the target robot's identification information and a cancellation instruction, instructing the target robot to cancel its current movement towards the target workstation. Upon receiving the cancellation command, the target robot immediately ceases its movement towards the target workstation. When the target task is canceled, the target robot enters an idle state after canceling its movement, awaiting other scheduling commands from the RCS.

[0088] S302. In the event of a change in the target task, after sending a cancellation instruction to the target robot, update the task cost value of each robot, redetermine the target robot based on the updated task cost value, and send a scheduling instruction to the redetermined target robot.

[0089] When a target task is changed rather than completely cancelled, the scheduling control unit, after sending a cancellation command to the original target robot, re-acquires the changed target task information. The changed target task information includes parameters such as the new task buffer duration, the new target workstation location, and the task type. Based on the changed target task information and the latest positions of each robot, the scheduling control unit recalculates the task cost for each robot to execute the changed target task. The latest positions of each robot include the original target robot's position after the cancellation and relocation, as well as the current positions of other robots. The scheduling control unit compares the recalculated task cost values ​​and selects the robot with the lowest cost value as the new target robot. It then sends a scheduling command to this newly determined target robot via the RCS, instructing the robot to move to the changed target workstation and begin executing the target task. This method releases the original target robot after cancellation and re-enters the competition, ensuring that the changed target task is matched with the robot that currently has the best overall cost.

[0090] In one possible implementation, after the target robot arrives at the target workstation, in addition to waiting for a second instruction, it can also adopt a perimeter patrol and standby mode. After the target robot arrives at the workstation, the scheduling control unit instructs it to patrol slowly within a preset area around the workstation, continuously monitoring for any temporary urgent pickup or delivery tasks. When a temporary task is detected, the target robot prioritizes accepting and immediately executes it, ensuring it does not interfere with subsequent target tasks at the workstation. When a pickup or delivery task officially begins at the workstation, the scheduling control unit sends a second instruction to the target robot via the RCS (Regional Control System), and the robot returns from its current position to the workstation and begins executing the corresponding task. This method utilizes the time gap before a target task arises at the workstation to accept smaller tasks, further improving robot utilization.

[0091] In this embodiment, when a target task is cancelled, a cancellation command is sent to the target robot, causing it to move to the target workstation. When the target task changes, a cancellation command is sent, the task cost value of each robot is updated, a new target robot is determined, and a scheduling command is sent. The cancellation command ensures that the original target robot responds to the scheduling arrangement in a timely manner. Updating the cost value and determining the new target robot ensures that the changed target task can be matched with a new optimal robot. This process transmits task changes to the scheduling decision in real time, maintaining consistency between the scheduling plan and the actual production status.

[0092] In some embodiments, the scheduling instruction includes a first instruction and a second instruction. The first instruction is used to instruct the target robot to move to the target workbench and report arrival information, and the second instruction is used to instruct the target robot to start performing the target task at the target workbench when performing the target task.

[0093] Upon receiving the arrival information reported by the target robot, the scheduling control unit knows that the target robot is already positioned at the target workbench and ready to immediately execute the target task. The second instruction instructs the target robot to begin executing the corresponding target task at the target workbench. The first and second instructions are issued separately in time: the first instruction is issued by the scheduling control unit via RCS when the target robot is identified, triggering the target robot to depart in advance and move to the target workbench; the second instruction is issued by the scheduling control unit via RCS when the target task is officially generated, triggering the target robot, already positioned at the target workbench, to immediately begin executing the target task.

[0094] In this embodiment, a first instruction instructs the target robot to move to the target workbench and report its arrival information. A second instruction instructs the target robot to begin executing the target task when it is ready to perform the task. After the robot moves to the target workbench and reports its arrival information, the scheduling system obtains the robot's positioning status and issues a second instruction to trigger execution when the target task needs to be performed. The movement process and the execution process are separated into two independently controllable stages.

[0095] In some embodiments, the job buffer duration is determined based on the real-time job duration of the target job station and the job prediction model.

[0096] The CMS imports core production data, such as the production model ratio, material quantity, logistics turnover frequency, usage time per pallet, and historical picking time at workstations in an automotive factory's final assembly workshop. The job forecasting model predicts the time when the target workstation will next generate a pickup or delivery demand based on one or more of the above data.

[0097] The real-time operation duration can be collected in real time by sensors deployed in the operation area. These sensors include material sensors for detecting the remaining material on the workbench and equipment status sensors for detecting the operating status of the equipment. The scheduling control unit takes the real-time operation duration as input and substitutes it into the operation prediction model for calculation to obtain the operation buffer duration corresponding to the target workbench. For example, in a delivery scenario, the usage time per pallet is the average time required for a single pallet of material to be consumed on the target workbench, and the capacity is the number of pallets of material that the target workbench can hold simultaneously. Based on the usage time per pallet and the capacity of the workbench in historical data, the operation prediction model calculates the total duration that the current batch of materials can be continuously consumed after delivery, and then subtracts the real-time operation duration (i.e., the time already consumed) to output the remaining operation buffer duration. Furthermore, this operation buffer duration is also used to trigger pre-scheduling judgment: when the time interval between the creation time of the previous task and the current time is greater than or equal to the product of the capacity and the usage time per pallet minus the pre-scheduling time, it is determined that the operation buffer duration is less than or equal to a preset time threshold, triggering pre-scheduling. For example, in the picking scenario, the usage time of each pallet can be replaced by the processing time of each pallet of workpieces on the workbench, and the number of pallets to be held is the number of workpiece pallets that the workbench can simultaneously carry. The job prediction model predicts the workpiece completion time based on the above parameters and outputs the picking operation buffer time.

[0098] In one possible implementation, the job prediction model is constructed as follows: S401. Obtain the historical operation time series of the target workstation.

[0099] The scheduling control unit reads the historical operation records of the target workstation from the CMS. These records contain the times when the target workstation generated pick-up or delivery requests during past production processes, as well as the time intervals between adjacent requests. The scheduling control unit arranges this information in chronological order to form a historical operation time series.

[0100] S402. Establish an operation prediction model based on historical operation time series.

[0101] The scheduling and control unit performs statistical analysis on the historical operation time series acquired by S401 to extract the operation patterns of the target workstation, including the average time interval between two adjacent target operation tasks, the historical average usage time per shipment, and the changing trend of the frequency of target operation tasks in different time periods. Based on the extracted operation patterns, the scheduling and control unit establishes an operation prediction model. This model is deployed in the CMS for the scheduling and control unit to call upon each time a scheduling process is executed.

[0102] In one possible implementation, the job prediction model can output the predicted remaining time for the task based on the historical job time series of the target job station. This approach is suitable for production scenarios with relatively stable job rhythms and strong periodicity.

[0103] In this embodiment, the historical operation time series of the target workstation is obtained and an operation prediction model is established. Then, the operation buffer time is determined based on the real-time operation duration of the target workstation and the prediction model. The historical operation time series carries the time pattern of the target operation tasks in the past, and the buffer time output by the prediction model established based on the series is supported by historical data.

[0104] In some embodiments, based on the robot scheduling method, the robot's charging management can also be coordinated and scheduled. After step S203 above, the robot scheduling method further includes: S501. When the battery power of at least one robot is less than a preset power threshold and it is in a predicted idle period, determine the charging cost of the robot based on the distance between the robot's location and the charging pile location and the charging time required for the robot.

[0105] Idle periods are predicted using an idle prediction model. This model is built upon historical power consumption data and future operating time information for each robot.

[0106] The preset battery threshold is a critical value used to determine whether the robot needs charging. When the robot's battery level falls below this threshold, it indicates that the robot needs to be recharged as soon as possible to avoid work interruption due to battery depletion. The predicted idle period is a time window determined by the scheduling control unit based on the production plan and task prediction model imported from the CMS, indicating a lower total number of target tasks and lower demand for robots within a certain future time period. The idle prediction model is built based on the historical power consumption data and future work time information of each robot, and is used to predict the task load and idle window of each robot in future time periods.

[0107] When the battery level of at least one robot is below a preset power threshold, and the robot is currently within a predicted idle period, the scheduling control unit determines the charging cost of the robot based on the distance between the robot's location and the charging station location, and the estimated charging time. The charging cost measures the overall cost of the robot performing the charging operation. The distance between the robot's location and the charging station location reflects the travel cost to reach the charging station, and the charging time reflects the time cost required for the robot to complete the charging process; both together determine the overall cost of the robot performing the charging operation. The charging cost is calculated using the following formula: charge_cost = dist_charge + charge_time + β × time_to_next_task, where charge_cost represents the charging cost, dist_charge represents the distance from the robot's current location to the charging station, charge_time represents the estimated time required for the robot to complete charging, time_to_next_task represents the time until the robot's next task begins, and β represents a time weighting coefficient used to balance the relative importance of charging time and task urgency in cost assessment.

[0108] The distance between the robot's location and the charging station reflects the travel cost the robot incurs to reach the charging station; the charging time reflects the time cost required for the robot to complete charging; and the time until the start of the next task reflects the time buffer between the charging activity and subsequent production tasks. These three factors together determine the overall cost of the robot performing the charging operation. The scheduling control unit calculates the charging cost value for each robot that meets the power threshold condition. The smaller the charging cost value, the lower the overall cost of the robot performing the charging operation, and the higher its priority.

[0109] S502. Identify at least one robot with the lowest charging cost as the target charging robot and send a charging instruction to the target charging robot.

[0110] The charging command is used to instruct the target charging robot to move to the charging station for charging.

[0111] In S501, the scheduling control unit calculates the charging cost value for each robot that meets the conditions. After obtaining the charging cost value for each robot, it compares the values ​​and selects the robot with the lowest charging cost value as the target charging robot. The lowest charging cost value indicates that the robot has the optimal charging efficiency in the comprehensive evaluation of travel cost and charging time cost, that is, the robot can perform the charging operation at the lowest overall cost. After determining the target charging robot, the scheduling control unit sends a charging command to the target charging robot through the RCS. After receiving the charging command, the RCS sends the charging command to the target charging robot, instructing the target charging robot to move from its current position to the location of the charging pile and perform the charging operation at the charging pile. After receiving the charging command, the target charging robot plans its travel path according to the charging pile location information carried in the command and starts moving, completing the charging during the predicted idle period, restoring sufficient power before the next peak task period.

[0112] In one possible implementation, besides triggering charging based on a battery threshold, a predictive equalization charging scheme can also be employed. The scheduling control unit, based on future task load predictions imported from the CMS, jointly analyzes the battery degradation trends of each robot with future task demands, proactively identifying robots that may not be able to maintain sufficient power before future peak periods, and decoupling the charging needs of these robots from high-priority handling tasks during the pre-scheduling phase. Specifically, during the pre-scheduling phase, the scheduling control unit simultaneously generates a joint optimization queue for charging and handling tasks, and executes joint dispatch using a multi-objective cost function. This multi-objective cost function considers the distance from the robot to the charging station, the urgency of the task to be handled, the robot's current battery degradation rate, and the available time of the future task window, uniformly evaluating the comprehensive cost of each robot performing charging and handling tasks, and selecting the robot with the optimal comprehensive cost to perform either the charging or handling task.

[0113] In this embodiment, when the robot's battery level is below a preset threshold and it is in a predicted idle period, the charging cost is determined based on the distance between the robot and the charging station and the charging time required. The robot with the lowest charging cost is identified as the target charging robot, and a charging command is sent to instruct it to move to the charging station. The battery threshold triggers the identification of charging demand, the predicted idle period ensures that charging behavior does not overlap with peak production operations, the cost assessment based on distance and charging time prioritizes charging for robots that are closer and charge faster, and the charging command instructs the identified robot to perform the charging action according to the assessment results. The charging behavior and operational needs are coordinated in both time and resource dimensions.

[0114] As can be seen, the above mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the embodiments of this application provide corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the modules and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0115] This application embodiment can divide the robot scheduling device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0116] In some embodiments, this application also provides a robot scheduling apparatus. The robot scheduling apparatus may include one or more functional modules for implementing the robot scheduling method of the above method embodiments.

[0117] For example, Figure 3 This is a schematic diagram illustrating the composition of a robot scheduling device provided in an embodiment of this application. Figure 3 As shown, the robot scheduling device is applied to a robot scheduling system. The robot scheduling device 60 includes: an information acquisition module 601, a cost determination module 602, and a target scheduling module 603.

[0118] The information acquisition module 601 is used to determine the location of the target workbench, the corresponding work buffer time of the target workbench, and the location of each robot; the target workbench is the workbench assigned to perform the target work task, and the work buffer time is the remaining time before the target workbench performs the target work task, which is used to indicate the urgency of the current target work task of the target workbench.

[0119] The cost determination module 602 is used to determine the operation cost value of each robot when performing the target operation task, based on the position of each robot, the position of the target workstation, and the operation buffer time, when the operation buffer time is less than or equal to a preset time threshold. The operation cost value is used to measure the priority of each robot in performing the target operation task.

[0120] The target scheduling module 603 is used to determine the robot with the lowest task cost among all robots as the target robot and send scheduling instructions to the target robot. The scheduling instructions are used to instruct the target robot to move to the target workstation and start executing the target task at the target workstation.

[0121] In some embodiments, the cost determination module 602 is further configured to determine the movement path of each robot to the target workstation based on the position of each robot and the position of the target workstation, and to determine the distance of each robot to the target workstation based on the movement path.

[0122] The operation cost is obtained by weighting the distance value and the operation buffer time value.

[0123] In some embodiments, the cost determination module 602 is further configured to determine multiple paths from each robot to the target workstation based on the robot's position and the target workstation's position.

[0124] If the shortest path among multiple paths has no blocked sections, the shortest path will be used as the movement path.

[0125] If there are blocked sections in the shortest path, the shortest detour path among multiple paths will be used as the moving path.

[0126] If all paths in a multi-pathway network have blocked sections, the shortest path will be used as the movement path.

[0127] In some embodiments, if there is a blocked section in the target robot's movement path, the scheduling instruction instructs the target robot to move outside the blocked section and wait until the blocked section is unblocked, then move to the target workbench and start performing the work from the target workbench when the target workbench needs to perform the work.

[0128] In some embodiments, the target scheduling module 603 is further configured to send a cancellation instruction to the target robot in the event that the target task is cancelled or changed. The cancellation instruction is used to instruct the target robot to cancel its movement to the target workstation.

[0129] If the target task changes, after sending a cancellation command to the target robot, update the task cost value of each robot, redetermine the target robot based on the updated task cost value, and send a scheduling command to the redetermined target robot.

[0130] In some embodiments, the scheduling instruction includes a first instruction and a second instruction. The first instruction is used to instruct the target robot to move to the target workbench and report arrival information, and the second instruction is used to instruct the target robot to start performing the target task at the target workbench when performing the target task.

[0131] In some embodiments, the job buffer duration is determined based on the real-time job duration of the target job station and the job prediction model.

[0132] The job prediction model is constructed in the following way: Obtain the historical operation time series of the target workstation.

[0133] A job prediction model is established based on the historical job time series.

[0134] In some embodiments, the robot scheduling device 60 further includes a charging scheduling module 604, used to determine the charging cost of at least one robot when its battery power is less than a preset power threshold and it is in a predicted idle period, based on the distance between the robot's location and the charging pile location and the charging time required for the robot. The predicted idle period is determined by an idle prediction model. The idle prediction model is established based on the historical power consumption data and future operation time information of each robot.

[0135] At least one robot with the lowest charging cost is identified as the target charging robot, and a charging command is sent to the target charging robot, instructing it to move to the charging station for charging. In implementing the functions of the integrated modules described above in hardware, this embodiment of the invention provides a possible schematic diagram of the electronic device involved in the above embodiments. For example... Figure 4 As shown, the electronic device 70 includes: a processor 702, a communication interface 703, and a bus 704. Optionally, the electronic device 70 may also include a memory 701.

[0136] Processor 702 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 702 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 702 may also be a combination that implements computing functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0137] The communication interface 703 is used to connect to other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0138] The memory 701 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0139] In one possible implementation, the memory 701 can exist independently of the processor 702. The memory 701 can be connected to the processor 702 via a bus 704 and is used to store instructions or program code. When the processor 702 calls and executes the instructions or program code stored in the memory 701, it can implement the robot scheduling method provided in this embodiment of the invention.

[0140] In another possible implementation, the memory 701 can also be integrated with the processor 702.

[0141] The 704 bus can be an extended industry standard architecture (EISA) bus, etc. The 704 bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0142] Through the above description of the implementation methods, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the service calling device can be divided into different functional modules to complete all or part of the functions described above.

[0143] This application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be executed by computer instructions instructing related hardware. The program can be stored in the aforementioned computer-readable storage medium, and when executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be any of the foregoing embodiments or memory. The aforementioned computer-readable storage medium can also be an external storage device of the aforementioned service invocation device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the aforementioned service invocation device. Further, the aforementioned computer-readable storage medium can include both internal storage units of the aforementioned service invocation device and external storage devices. The aforementioned computer-readable storage medium is used to store the aforementioned computer program and other programs and data required by the aforementioned service invocation device. The aforementioned computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0144] This application also provides computer instructions. All or part of the processes in the above method embodiments can be executed by computer instructions to instruct related hardware (such as computers, processors, network devices, and terminals). The program can be stored in the aforementioned computer-readable storage medium.

[0145] This application also provides a computer program product that, when run on a computer, causes the above-described method embodiments to be executed.

[0146] This application also provides a chip system. The chip system may be composed of chips or may include chips and other discrete devices, without limitation. The chip system includes a processor and a transceiver. All or part of the processes in the above method embodiments can be completed by this chip system, such as the chip system being used to implement the functions performed by the network devices or terminals in the above method embodiments.

[0147] In one possible design, the chip system further includes a memory for storing program instructions and / or data. When the chip system is running, the processor executes the program instructions stored in the memory to enable the chip system to perform the functions performed by the network device or terminal in the above method embodiments.

[0148] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A robot scheduling method, characterized in that, An application is made in a robot scheduling system, the robot scheduling system comprising a robot and at least one workstation; the robot is used to perform a pickup task or a delivery task, and the workstation is the workstation used to perform the pickup task or the delivery task; the method includes: The location of the target workbench, the corresponding work buffer time of the target workbench, and the location of each robot are determined; the target workbench is the workbench assigned to perform the target work task, and the work buffer time is the remaining time before the target workbench performs the target work task, used to indicate the urgency of the current target work task of the target workbench; If the task buffer time is less than or equal to a preset time threshold, the task cost value for each robot to perform the target task is determined based on the position of each robot, the position of the target workstation, and the task buffer time; the task cost value is used to measure the priority of each robot in performing the target task. The robot with the lowest operation cost among all robots is identified as the target robot, and a scheduling instruction is sent to the target robot. The scheduling instruction is used to instruct the target robot to move to the target workbench and to start executing the target operation task on the target workbench when the target workbench needs to perform the target operation task.

2. The method according to claim 1, characterized in that, The step of determining the operation cost value of each robot when performing the target operation task based on the position of each robot, the position of the target workbench, and the operation buffer time includes: Based on the positions of each robot and the target workbench, determine the movement path of each robot to the target workbench, and determine the distance of each robot to the target workbench based on the movement path; The operation cost value is obtained by weighting the distance value and the operation buffer time value.

3. The method according to claim 2, characterized in that, Determining the movement path of each robot to the target workbench based on the positions of each robot and the target workbench includes: Based on the positions of each robot and the target workbench, multiple paths from each robot to the target workbench are determined; If the shortest path among the multiple paths has no blocked sections, the shortest path shall be used as the travel path. If there is a road blockage in the shortest path, the shortest detour path among the multiple paths will be used as the travel path; If all of the multiple paths have blocked sections, the shortest path will be used as the travel path.

4. The method according to claim 3, characterized in that, If the target robot's movement path contains the blocked section, the scheduling instruction instructs the target robot to move outside the blocked section and wait until the blocked section is unblocked. Then, the target robot moves to the target workbench and starts performing the task from the target workbench when the task needs to be performed.

5. The method according to claim 1, characterized in that, The method further includes: In the event that the target task is cancelled or changed, a cancellation command is sent to the target robot, the cancellation command being used to instruct the target robot to cancel its movement to the target workbench; In the event of a change in the target task, after the target robot sends the cancellation instruction, the task cost value of each robot is updated, the target robot is re-determined based on the updated task cost value, and a scheduling instruction is sent to the re-determined target robot.

6. The method according to claim 1, characterized in that, The scheduling instructions include a first instruction and a second instruction. The first instruction is used to instruct the target robot to move to the target workbench and report arrival information. The second instruction is used to instruct the target robot to start executing the target task at the target workbench when performing the target task.

7. The method according to claim 1, characterized in that, The job buffer duration is determined based on the real-time job duration of the target workstation and the job prediction model; The job prediction model is constructed in the following way: Obtain the historical operation time sequence of the target workstation; The task prediction model is established based on the historical task time series.

8. The method according to claim 1, characterized in that, The method further includes: If at least one robot's battery level is less than a preset power threshold and it is in a predicted idle period, the charging cost of the robot is determined based on the distance between the robot's location and the charging station location and the charging time required for the robot; the predicted idle period is determined by an idle prediction model; the idle prediction model is established based on the historical power consumption data and future operation time information of each robot. At least one robot with the lowest charging cost is identified as the target charging robot, and a charging instruction is sent to the target charging robot, which instructs the target charging robot to move to the charging station for charging.

9. An electronic device, characterized in that, The device includes a processor and a memory, the processor being coupled to the memory; the memory is used to store computer instructions, which are loaded and executed by the processor to enable the computer device to implement the robot scheduling method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer-executable instructions that, when executed on a computer, cause the computer to perform the robot scheduling method as described in any one of claims 1 to 8.

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