Method for generating robot workflows, terminal device, and computer-readable storage medium

Abstract

This solution addresses the challenges of low efficiency in organizing robot workflows and high development difficulty. [Solution] Obtain a robot work task list including task parameters for each work task; generate a work flow component list corresponding to each work task based on the task parameters for each work task; obtain work flow organization information generated by the work flow organization interface based on the work flow component list; determine flow logic information and target work flow components based on the work flow organization information; generate a work flow diagram based on the flow logic information and target work flow components; obtain a process instance of the work flow corresponding to the work flow diagram, generate robot assignment information based on the process instance, and update the work flow diagram based on the robot assignment information to obtain the target work flow diagram.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a method for generating a work flow of a robot, a terminal device, and a computer-readable storage medium.

Background Art

[0002] A robot is a device that can move automatically without requiring manual operation. In recent years, many robots are equipped with the ability to transport workpieces. In a transport scenario by a robot, generally, the robot executes a series of operations according to a predetermined order. In related technologies, researchers use computer programming languages and the like to develop programs for different work flows to compile the flows so that the robot can execute operations according to the order of flow compilation.

[0003] However, when it is necessary to adjust the flow compilation order, or when the program developed due to a code description error cannot be executed, generally, it is necessary to re-describe the code and re-develop the program. For this reason, there are problems such as low efficiency of flow compilation, a large amount of redundant code, and high development difficulty.

Summary of the Invention

[0004] The present invention provides a method for generating a work flow of a robot, a terminal device, and a computer-readable storage medium, and aims to solve the problems of low efficiency of flow compilation of the robot, a large amount of redundant code, and high development difficulty.

[0005] Firstly, the present invention provides a method for generating a robot's workflow, which includes obtaining a robot's workflow task list including task parameters for each work task, generating a workflow component list including workflow components corresponding to each work task based on the task parameters for each work task, obtaining workflow organization information generated by a workflow organization interface based on the workflow component list, determining flow logic information and target workflow components based on the workflow organization information, generating a workflow diagram based on the flow logic information and the target workflow components, obtaining a process instance of the workflow corresponding to the workflow diagram, generating robot assignment information based on the process instance, and updating the workflow diagram based on the robot assignment information to obtain a target workflow diagram, and causing the robot to operate based on the target workflow diagram.

[0006] Secondly, the present invention provides a terminal device comprising a storage unit for storing a computer program and a processor that executes the computer program and generates a workflow for the robot.

[0007] Thirdly, the present invention provides a computer-readable storage medium that stores a computer program that causes the processor to generate the robot's workflow when the computer program is executed by the processor.

[0008] According to the robot workflow generation method, terminal device, and computer-readable storage medium of the present invention, a robot workflow task list including task parameters for each work task is obtained, a workflow component list including workflow components corresponding to each work task is generated based on the task parameters of each work task, a workflow organization interface obtains workflow organization information generated based on the workflow component list, flow logic information and target workflow components are determined based on the workflow organization information, a workflow diagram is generated based on the flow logic information and the target workflow components, a process instance of the workflow corresponding to the workflow diagram is obtained and robot assignment information is generated based on the process instance, and the workflow diagram is updated based on the robot assignment information to obtain the target workflow diagram. As a result, the robot works based on the target workflow diagram, improving the efficiency of workflow organization and reducing redundant code, and for developers, it contributes to reduced code coupling and improved readability. Furthermore, since workflow organization can be achieved by organizing components, the development difficulty is low, workflow development becomes easy, and it can be applied to all robot transport scenarios. [Effects of the Invention]

[0009] 1. Decoupling (Each workflow component can be executed independently, without depending on the execution order of the code, and can be achieved by organizing the workflow). 2. Facilitation of process development (The workflow organization interface allows users to create workflows using drag-and-drop operations, enabling them to organize processes even without computer programming expertise). 3. Reduced code duplication (By dragging and dropping steps on the workflow organization interface and drawing lines, different workflows can be realized, resulting in less code duplication compared to the traditional method where program code had to be rewritten each time a change was made). 4. Improved code readability: Each workflow can be viewed in its execution steps on the workflow organization interface, allowing developers to intuitively understand the process execution steps and quickly identify any workflow component execution steps that do not meet their expectations. Previously, developers could not discover such problems without examining the code. [Brief explanation of the drawing]

[0010] To more clearly explain the solutions according to the embodiments of the present invention, the drawings used in describing the embodiments will be briefly described below. Note that the drawings shown below represent only a portion of the embodiments of the present invention, and those skilled in the art can obtain other drawings based on these without requiring any creative effort. [Figure 1] This is an application environment diagram for the robot workflow generation method according to an embodiment of the present invention. [Figure 2] This is a flowchart of a method for generating a robot workflow according to an embodiment of the present invention. [Figure 3] This is a configuration diagram of a terminal device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] Hereinafter, the solutions according to embodiments of the present invention will be clearly and fully described with reference to the drawings relating to embodiments of the present invention. Note that the related embodiments are only a part of, not all, embodiments of the present invention. Any other embodiments that a person skilled in the art could obtain without creative effort are all included within the scope of protection of the present invention.

[0012] The flowchart shown is an example for illustrative purposes only and does not require the inclusion of all content, actions, and procedures, nor does it mean that they must be performed in the order they are listed. For example, some actions and procedures may be divided, combined, or partially integrated, and the actual execution procedure may vary depending on the circumstances.

[0013] The terms used in this description of the present invention are for the purpose of describing specific embodiments and do not limit the invention. For example, as used in this description and in the claims of the present invention, the singular forms "1," "one," and "this" also include the plural forms unless otherwise specified in the context.

[0014] In the description and claims of this invention, the terms "and" and "or" mean any combination of one or more of the relatedly enumerated matters, and all possible combinations thereof.

[0015] In the field of robotics, there are many scenarios involving material handling. In robotics, each material handling scenario involves executing a series of actions according to a predetermined procedure. While the robot's workflow for these scenarios can be organized using code, differences in workflows may exist depending on the type of material handling, potentially leading to redundant or incorrect workflows. In such cases, it is usually necessary to design a new code solution that satisfies the robot's workflow for each scenario, resulting in low efficiency in organizing robot workflows, a large amount of redundant code, and difficult development.

[0016] For example, this could involve controlling a robot's speaker to play voice prompts, controlling the device to turn on indicator lights, and further controlling the device to move it. The above workflow requires a computer programming language, and if other similar devices require the same program, redevelopment will be necessary.

[0017] Furthermore, the related technologies have defects or shortcomings, as described below. 1. Most conventional process engines are designed for approval processes, but they are overkill for robotic transport, and robotic automated transport does not require approval. 2. On the other hand, lightweight process engines cannot achieve runtime data persistence. 3. It lacks breakpoint debugging functionality. Examples include skipping the current node, skipping to a specified node, and retrying execution.

[0018] According to the robot workflow generation method, terminal device, and readable storage medium of the present invention, the robot workflow organization efficiency can be improved, redundant code can be reduced, and code coupling can be reduced, which is advantageous for developers in that it improves code readability. Furthermore, since the workflow can be organized by organizing components, the difficulty of development is low and process development is easy, making it applicable to all robotic transport situations.

[0019] This method can be applied to both servers and terminal devices. Terminal devices include mobile devices such as mobile phones, tablet PCs, and personal digital assistants (PDAs). For example, the server may be a single server or a server cluster, but for ease of understanding, the following embodiment will describe in detail how to generate the robot's workflow applied to the server.

[0020] Hereinafter, several embodiments of the present invention will be described in detail with reference to the drawings. The following embodiments and the features described in each embodiment can be combined as appropriate, as long as they do not contradict each other.

[0021] As shown in FIG. 1, the method for generating a work flow of a robot according to an embodiment of the present invention can be applied to an environment including a robot 110 and a server 120 shown in FIG. 1. The robot 110 can communicate with the server 120 via a network. Specifically, the server 120 obtains a work task list including task parameters of each work task of the robot 110, generates a work flow component list including work flow components corresponding to each work task based on the task parameters of each work task, obtains the work flow composition information generated by the work flow composition interface based on the work flow component list, determines the process logic information and the target work flow component based on the work flow composition information, generates a work flow diagram based on the process logic information and the target work flow component, obtains a process instance of the work flow corresponding to the work flow diagram, generates robot allocation information based on the process instance of the work flow, updates the work flow diagram based on the robot allocation information to obtain a target work flow diagram, and enables the robot 110 to operate based on the target work flow diagram. Note that the server 120 may be an independent server, or may be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, serverless cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), as well as big data and artificial intelligence platforms. The robot 110 may be an industrial robot having a material transportation ability, such as an automated guided vehicle (AGV) as an example, but is not limited thereto. The robot 110 and the server 120 can be directly or indirectly connected by wired or wireless communication, and the present invention is not limited thereto.

[0022] FIG. 2 is a flowchart of a method for generating a work flow of a robot according to an embodiment of the present invention. According to this method, it is advantageous to developers in terms of improving the efficiency of compiling the work flow of the robot, reducing redundant code, reducing the coupling degree of the code, and improving the readability of the code. Furthermore, the compilation of the work flow can be realized by the compilation of components, the development difficulty is low, and the process development is facilitated, so it can be applied to the entire conveyance scene by the robot.

[0023] As shown in FIG. 2, this method includes steps S101 to S106.

[0024] S101. Obtain a work task list of the robot including task parameters of each work task.

[0025] Here, the work task list includes all work tasks that the robot can execute and their corresponding task parameters. The work tasks may include a material processing task by the robot, a material loading / unloading task by the robot, a movement task by the robot, a robot cycle task, a robot voice prompt task, etc. The task parameters may include parameters such as voice content, the IP address of the device, the port number, the ON / OFF of the display lamp, the start / stop of the device operation, etc.

[0026] As an example, all work tasks of the robot and their corresponding task parameters may be obtained, and this information may be integrated to generate a work task list of the robot.

[0027] As an example, when robot A has a conveyance function and a voice prompt function, it indicates that the work tasks of robot A include at least a material processing task by the robot, a material loading / unloading task by the robot, a movement task by the robot, a robot cycle task, and a robot voice prompt task.

[0028] For example, if robot B has a transport function and a lighting prompt function, the work tasks of robot B include at least a robotic material processing task, a robotic material unloading operation, a robotic movement operation, a robotic periodic task, and a robotic lighting prompt task.

[0029] S102 generates a workflow component list containing the workflow component corresponding to each work task, based on the task parameters of each work task.

[0030] Here, the workflow component list may be a list consisting of multiple types of workflow components, and may include a workflow component corresponding to each work task.

[0031] In some embodiments, the task type corresponding to a work task is determined based on task parameters, the process code corresponding to the work task of that task type is obtained, a workflow component corresponding to the work task is generated based on the task parameters, task type, and corresponding process code, and the generated workflow components are integrated to obtain a workflow component list. This makes it possible to accurately generate a workflow component corresponding to a work task based on the work task and its corresponding task parameters.

[0032] Here, task types may include movement task types, operation task types, and prompt task types. Movement task types include tasks necessary for robot movement, such as robot movement operations. Operation task types include tasks necessary for robot operation, such as robot material handling tasks and robot material unloading operations. Prompt task types include tasks necessary for robot prompting, such as robot voice prompt tasks and robot lighting prompt tasks. The process code corresponding to a task type may be a general-purpose code corresponding to the work task of each task type.

[0033] For example, based on task parameters, it is possible to determine that the task type corresponding to a work task is a move task type, obtain the process code corresponding to the move task type work task, and generate a workflow component corresponding to that work task based on the task parameters, move task type, and the corresponding process code.

[0034] For example, based on task parameters, it is possible to identify that the task type corresponding to a work task is an operation task, obtain the process code corresponding to the operation task type work task, and generate a workflow component corresponding to that work task based on the task parameters, operation task type, and said process code.

[0035] In some embodiments, the robot's operating method and content can be identified based on task parameters, and the task type corresponding to the work task can be identified based on the robot's operating method and content. This allows for accurate identification of the task type corresponding to the work task.

[0036] Here, the robot may include movement by wheels, material processing by an operating arm, and illumination by indicator lights as its method of operation, and the operation may include moving from position A to position B, performing material processing at position A, and providing illumination at position B.

[0037] For example, by analyzing the task parameters, it can be determined that the robot's movement method is wheeled movement, and that the movement is from position A to position B. In this case, the task type corresponding to the work task can be determined to be a movement task.

[0038] For example, by analyzing the task parameters, it can be determined that the robot's operation method is material processing by the operating arm, and that the operation involves unloading the material at position A. In this case, it can be determined that the task type corresponding to this work task is an operation task.

[0039] For example, if we specify that the robot's operation method is illumination by an indicator light and the operation content is material picking at position point A, then because the robot's operation method does not correspond to the operation content, it is necessary to re-specify the task parameters and re-specify the robot's operation method and operation content.

[0040] In some embodiments, the process code corresponding to a work task is updated based on the task parameters and task type of the work task, the target process code is retrieved, and the target process code is injected into a preset application framework to generate a work flow component corresponding to the work task.

[0041] Here, the target process code may be the process code corresponding to the task in question, specifically obtained by updating the generic code corresponding to the task type. The preset application framework may be the Spring application framework.

[0042] For example, the process code variables corresponding to a work task can be updated based on the work task parameters and task type, the target process code can be obtained, the target process code can be created as a Java file, the input parameters required for the execution of the target process code and the parameters to be output when the execution of the target process code is completed can be defined, and finally, the target process code program can be injected into the Spring application framework via an interface, and then the corresponding work flow component can be generated using the work flow organization interface, and this work flow component can be dragged and dropped by the user.

[0043] In some embodiments, the task parameter type is identified by analyzing the task parameters, and based on the matching relationship between the task type and the parameter type, the target task parameter is identified from the task parameters according to the task type. The process code corresponding to the work task is then updated based on the target task parameter to obtain the target process code. This allows for the accurate generation of the target process code based on the parameter type.

[0044] Here, parameter types may include string types, numeric types, and boolean types. The matching relationship between task type and parameter type indicates the correspondence between a task type and a given parameter type; if the task type is a move task, it relates to numeric parameter types, and if the task type is a prompt task, it relates to boolean parameter types. Target task parameters indicate the task parameters related to the work task in question.

[0045] For example, if the task parameter is audio content, the corresponding parameter type may be a string type; if the task parameter is the device's IP address, the corresponding parameter type may be a string type; if the task parameter is a port number, the corresponding parameter type may be a numeric type; if the task parameter is the ON / OFF status of an indicator light, the corresponding parameter type may be a boolean type; and if the task parameter is the start / stop status of a device, the corresponding parameter type may be a boolean type.

[0046] For example, if you identify that the task parameter type includes Boolean and numeric types, and the task type of the work task is a prompt task type, you can identify that the target task parameter is a task parameter corresponding to a Boolean type, and then update the process code corresponding to the work task based on the task parameter corresponding to a Boolean type to obtain the target process code.

[0047] S103. The workflow organization interface obtains workflow organization information generated based on the workflow component list, and identifies process logic information and target workflow components based on the workflow organization information.

[0048] Here, the workflow organization interface is a screen where the user can place workflow components, the workflow organization information is information generated by placing workflow components, the process logic information indicates the process execution procedure and conditions after the workflow components have been placed, the target workflow component is a pre-placed workflow component used by the user in the workflow organization interface, and the target task is a task corresponding to the target workflow component.

[0049] For example, a workflow organization interface may include a workflow component list, canvas, form, and global variables, and users can select workflow components on the workflow organization interface, drag and drop workflow components, and further define workflow components. For example, the start and end points of a move workflow component can be defined, and the material retrieval location and material type of a material retrieval workflow component can also be defined.

[0050] For example, when a user defines a workflow component by dragging and dropping it from the workflow component list on the workflow organization interface, corresponding workflow organization information is generated, and process logic information and target workflow components are obtained by analyzing the workflow organization information.

[0051] In some embodiments, by analyzing the workflow organization information, task information including the task number, task parameters, material number to be grasped, and task movement path, as well as workflow components, are obtained. Process logic information is generated based on the material number to be grasped and the task movement path, parameters of the workflow components are set based on the task number and task parameters, and the target workflow component is obtained. This allows for the accurate generation of process logic information and the setting and acquisition of the target workflow component.

[0052] Here, task information includes the task number, task parameters, material number to be grasped, and task movement path. The workflow component may be a workflow component selected by the user in the workflow organization interface. The task number is the number corresponding to the work task included in the workflow, and the task parameters are information corresponding to the work task included in the workflow, including, for example, the start and end points of each work task. The material number to be grasped is the number of the material to be grasped included in the workflow, and the task movement path is the integrated movement path of the workflow.

[0053] For example, by analyzing the workflow organization information, task information including the task number, task parameters, material number to be grasped, and task movement path, as well as workflow components, may be obtained. The workflow components may include robot movement components, robot material picking components, and robot feeding components. Process logic information corresponding to the workflow is generated based on the material number to be grasped and the task movement path, and parameters for the robot movement components, robot material picking components, and robot feeding components are set based on the task number and task parameters, and the corresponding target workflow components are obtained.

[0054] In embodiments of the present invention, the robot's voice prompt task and the robot's lighting prompt task can be extracted and obtained as workflow components. Then, parameters to be input to the components are defined. For example, voice content (string type), device IP address (string type), port number (numeric type), indicator light ON / OFF (boolean type), and equipment operation start / stop (boolean type). Therefore, the user can connect the components by dragging them according to the procedure in the workflow organization interface. Furthermore, if there are similar workflows required for development, it is sufficient to organize them directly using the workflow components, and the development of new code solutions is unnecessary. Moreover, if adjustments to the procedure in the workflow are necessary, for example, if an indicator light is turned on before making a voice broadcast, conventionally, the development of a new code solution was required. Conventionally, since the execution procedure of each function is fixed in the code, each function is strongly dependent on the order in which it is performed. However, according to the robot workflow generation method in embodiments of the present invention, the above functions can be realized by changing the procedure of the workflow components by dragging.

[0055] S104 generates a workflow diagram based on process logic information and target workflow components.

[0056] Here, the robot's workflow can be represented using a workflow diagram.

[0057] For example, by analyzing process logic information, information such as the procedure, conditions, and number of times a process is executed is obtained, and based on the process logic information, the target work flow components are ordered, and the corresponding execution conditions are set to generate a work flow diagram.

[0058] S105. Obtain a process instance of the work flow corresponding to the work flow diagram, and generate robot assignment information based on the process instance of the work flow.

[0059] Here, process instances of a workflow can be generated by a workflow diagram, showing the assignment of robots to different processes, i.e., different work tasks. Robot assignment information shows the robots assigned to each process in the workflow process instances.

[0060] In some embodiments, the number of robots corresponding to a process and the material to be grasped are determined by the process instance of the work flow, the position information of each robot in the operation scene is acquired, a spare robot is determined from among the robots based on the position information, and if the number of spare robots is equal to or greater than the number of robots, a robot corresponding to the process instance of the work flow is assigned based on the material to be grasped, and robot assignment information is generated.

[0061] Here, the operation scenes may include indoor, outdoor, and elevator operation scenes, and the robots are assigned according to the operation scene.

[0062] For example, the process instance of the work flow determines that there are four robots corresponding to the process and that the material to be gripped is a wooden board. The position information of each robot in the indoor scene is obtained, a robot within the range set as a backup robot is selected, and if there are four or more backup robots, a robot suitable for gripping the wooden board is selected from the backup robots to be assigned, and robot assignment information is generated.

[0063] For example, depending on the robot's gripping characteristics, a specific gripper type robot may be selected as the robot to be assigned; a robot with a voltage above a set voltage threshold may be selected as the robot to be assigned; and a robot in an idle state may be selected as the robot to be assigned.

[0064] S106. The work flow diagram is updated based on the robot assignment information, the target work flow diagram is obtained, and the robot is configured to operate based on the target work flow diagram.

[0065] Here, the target workflow diagram is a workflow diagram updated with robot assignment information.

[0066] Specifically, the system updates the workflow diagram using robot assignment information, sets robot assignment information corresponding to each process to obtain the target workflow diagram, and ensures that the robot operates according to the workflow of the target workflow diagram.

[0067] In some embodiments, the process execution period of each workflow component in the target workflow diagram is obtained, and if the process execution period is greater than or equal to the threshold for the first period, or less than or equal to the threshold for the second period, a new target workflow component is generated based on the workflow organization information. This allows for analysis of whether the robot's movements to execute the work tasks are accurate according to the process execution period, and enables an accurate analysis of the time efficiency of executing the entire process.

[0068] Here, the process execution period is the duration of the work task corresponding to the work flow component executed by the robot, and the thresholds for the first period and the second period can be any period, provided that the threshold for the first period is greater than or equal to the threshold for the second period (e.g., 10 minutes, 20 minutes), and are not specifically limited here.

[0069] For example, if the process execution period exceeds the threshold for the first period, or falls below the threshold for the second period, there may be an error in the robot's operation performing the task, or the time the robot takes to perform the task may not match expectations. In such cases, a new target workflow component needs to be generated based on the workflow organization information.

[0070] In an embodiment of the present invention, a method for generating a robot workflow is provided, which involves obtaining a robot workflow list including task parameters for each workflow, generating a workflow component list including workflow components corresponding to each workflow based on the task parameters of each workflow, obtaining workflow organization information generated by a workflow organization interface based on the workflow component list, determining process logic information and target workflow components based on the workflow organization information, generating a workflow diagram based on the process logic information and target workflow components, obtaining a workflow process instance corresponding to the workflow diagram, generating robot assignment information based on the workflow process instance, updating the workflow diagram based on the robot assignment information to obtain a target workflow diagram, and enabling the robot to operate based on the target workflow diagram. Consequently, this leads to improved workflow arrangement efficiency and reduced redundant code, is advantageous to developers due to reduced code coupling and improved code readability, and allows workflow organization to be achieved by component arrangement, resulting in lower development difficulty and easier process development, making it suitable for all robotic transport scenarios. Figure 3 is a diagram showing the configuration of a terminal device according to an embodiment of the present invention.

[0071] As shown in Figure 3, the terminal device 200 may include a processor 201 and memory 202 connected by a bus 203 such as I2C (Inter-integrated Circuit).

[0072] In one embodiment, the processor 201 can support the operation of the entire terminal device through arithmetic and control functions, and may be a Central Processing Unit (CPU), or it may be another general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or another programmable logic device, discrete gate or transistor logic device, individual hardware components, etc. Here, the general-purpose processor may be a microprocessor.

[0073] Specifically, memory 202 may be a flash chip, read-only memory (ROM), disk, CD, USB flash drive, or portable hard drive, etc.

[0074] The configuration shown in Figure 3 is only a part of the configuration according to an embodiment of the present invention and does not limit the terminal device according to an embodiment of the present invention. A specific terminal device may include more or fewer components than those shown, or may include a combination of certain components, or the arrangement of the components may be different.

[0075] Here, the processor 201 is for executing a computer program stored in memory, and when executing the computer program, it performs the method for generating a robot work flow according to an embodiment of the present invention.

[0076] In one embodiment, the processor 201 is for executing a computer program stored in memory, and when executing the computer program, it performs the following operations: it obtains a robot work task list including task parameters for each work task, generates a work flow component list including work flow components corresponding to each work task based on the task parameters of each work task, obtains work flow organization information generated by the work flow organization interface based on the work flow component list, determines process logic information and target work flow components based on the work flow organization information, generates a work flow diagram based on the process logic information and target work flow components, obtains a process instance of the work flow corresponding to the work flow diagram, generates robot assignment information based on the process instance of the work flow, updates the work flow diagram with the robot assignment information to obtain a target work flow diagram, and causes the robot to operate based on the target work flow diagram.

[0077] In one embodiment, when the processor 201 generates a workflow component list based on the task parameters of each work task, it performs the following operations: it determines the task type corresponding to the work task based on the task parameters, obtains the process code corresponding to the work task of the task type, generates a workflow component corresponding to the work task based on the task parameters, task type, and corresponding process code, and integrates the workflow components to obtain a workflow component list.

[0078] In one embodiment, the processor 201 performs the following operations when determining the task type corresponding to the work task based on the task parameters: It determines the robot's operation method and operation content based on the task parameters, and determines the task type corresponding to the work task based on the robot's operation method and operation content.

[0079] In one embodiment, when the processor 201 generates a workflow component corresponding to the work task based on the task parameters, task type, and corresponding process code, and integrates the workflow components to obtain a workflow component list, it performs the following operations: It updates the process code corresponding to the work task based on the task parameters and task type of the work task, obtains the target process code, and injects the target process code into the preset application framework to generate a workflow component corresponding to the work task.

[0080] In one embodiment, when the processor 201 updates the process code corresponding to the work task based on the task parameters and task type of the work task and obtains the target process code, it performs the following operations: it analyzes the task parameters to determine the task parameter type, determines the target task parameters from the task parameters based on the task type based on the matching relationship between the task type and the parameter type, and updates the process code corresponding to the work task based on the target task parameters to obtain the target process code.

[0081] In Example 1, when the processor 201 identifies process logic information and target work flow components based on the work flow organization information, it performs the following processing: it analyzes the work flow organization information to obtain task information including the task number, task parameters, target work number, and task movement path, as well as work flow components; it generates process logic information based on the target work number and task movement path; it sets parameters for the work flow components based on the task number and task parameters; and it obtains the target work flow components.

[0082] In Example 1, when the processor 201 generates robot assignment information based on the process instance of the work flow, it performs the following processing: it identifies the number of robots and the workpiece to be gripped corresponding to the process based on the process instance of the work flow, obtains the position information of each robot in the operation scene, identifies a spare robot from among the robots based on the position information, and if the number of spare robots is equal to or greater than the number of robots, it assigns a robot corresponding to the process instance of the work flow based on the workpiece to be gripped and generates robot assignment information.

[0083] In Example 1, the processor 201 also performs the following processing: it obtains the process execution time of each work flow component in the target work flow diagram, and if the process execution time is greater than or equal to the first time threshold, or if the process execution time is less than or equal to the second time threshold, it generates a new target work flow component based on the work flow organization information.

[0084] For convenience and to provide a concise explanation, the specific operating process of the above-mentioned terminal device can be found by referring to the related processes described in the above embodiment, and therefore a detailed explanation is omitted here.

[0085] Furthermore, in the embodiments of the present invention, a computer-readable storage medium is also provided, which stores a computer program including program instructions, and the processor is configured to generate one of the robot work flows according to the embodiments of the present invention by executing the program instructions.

[0086] For example, once the program is loaded into the processor, the following processes can be executed:

[0087] The system obtains a robot task list containing task parameters for each task, generates a workflow component list containing workflow components corresponding to each task based on the task parameters of each task, obtains workflow organization information generated by the workflow organization interface based on the workflow component list, identifies process logic information and target workflow components based on the workflow organization information, generates a workflow diagram based on the process logic information and target workflow components, obtains a process instance of the workflow corresponding to the workflow diagram, generates robot assignment information based on the workflow process instance, updates the workflow diagram based on the robot assignment information to obtain a target workflow diagram, and configures the robot to operate based on the target workflow diagram.

[0088] In this case, the computer-readable storage medium may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device, or it may be an external storage device of the terminal device, such as a plug-in hard drive, Smart Media® Card (SMC), Secure Digital Card (SD Card), or Flash Memory Card.

[0089] Furthermore, the computer-readable storage medium primarily includes a program storage area capable of storing an operating system, a program for implementing at least one function, and a storage area capable of storing data generated by each program.

[0090] While embodiments for carrying out the present invention have been described above, the scope of protection of the present invention is not limited thereto. A person skilled in the art will readily conceive of various equivalent modifications or substitutions within the technical scope described in the present invention, and these modifications or substitutions are included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention is defined by the claims.

Claims

1. To obtain a robot's work task list, including the task parameters for each work task. Based on the task parameters of each work task, generate a list of work flow components that include the work flow components corresponding to each work task. The workflow organization interface obtains workflow organization information generated based on the workflow component list. Based on the aforementioned workflow organization information, determine the flow logic information and the target workflow component. To generate a work flow diagram based on the aforementioned flow logic information and the aforementioned target work flow component, Obtain a process instance of the work flow corresponding to the aforementioned work flow diagram, and generate robot assignment information based on the aforementioned process instance. Based on the robot assignment information, the work flow diagram is updated to obtain the target work flow diagram, and the robot is made to operate based on the target work flow diagram. Includes, Generating a workflow component list based on the task parameters of each of the aforementioned work tasks is: Based on the task parameters, determine the task type corresponding to the work task, and obtain the process code corresponding to the work task of the task type. Analyzing the task parameters and determining the parameter type of the task parameters, Based on the correspondence between the task type and the parameter type, the target task parameter is determined from the task parameters according to the task type. The process code corresponding to the work task is updated based on the target task parameters to obtain the target process code, and The aforementioned target process code is incorporated into a predetermined application framework to generate a work flow component corresponding to the aforementioned work task. including A method for generating a robot's work flow, characterized by the features described above.

2. Determining the task type corresponding to the work task based on the aforementioned task parameters is: The robot's work method and work content are determined based on the aforementioned task parameters, and The task type corresponding to the work task is determined based on the robot's work method and work content. including A method for generating a robot workflow according to feature 1.

3. Determining flow logic information and target work flow components based on the aforementioned work flow organization information is: The aforementioned work flow organization information is analyzed to obtain task information including the task number, task parameters, the number of the workpiece to be grasped, and the task movement path, as well as work flow components. The process involves generating flow logic information based on the grab target work number and the task movement path, and, The parameters of the workflow component are set based on the task number and task parameters, and the target workflow component is obtained. including A method for generating a robot workflow according to feature 1.

4. Generating robot assignment information based on the aforementioned process instance is, Based on the process instance of the aforementioned work flow, the number of robots and the workpiece to be grasped corresponding to the aforementioned work flow are determined. The process involves acquiring the positional information of each robot in the work scene, determining a backup robot from among the robots based on the positional information, and, If the number of spare robots is greater than the number of robots, robot assignment information is generated by assigning a robot corresponding to the process instance based on the workpiece to be gripped. including A method for generating a robot workflow according to feature 1.

5. To obtain the flow execution time of each work flow component in the aforementioned target work flow diagram, If the flow execution time is equal to or greater than the first time threshold, or if the flow execution time is equal to or less than the second time threshold, the target work flow component is regenerated based on the work flow organization information. A method for generating a robot workflow according to claim 1, further comprising the following:

6. A terminal device comprising a storage unit for storing a computer program and a processor for executing the computer program, wherein the processor executes the robot work flow generation method described in any one of claims 1 to 5 by executing the computer program.

7. A computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the processor is instructed to execute the robot workflow generation method described in any one of claims 1 to 5.

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