CN112132338A - Dispatching optimization method and device for robot full-automatic delivery - Google Patents
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Abstract
The application relates to a scheduling optimization method and device for robot full-automatic delivery, wherein the method comprises the following steps: issuing an operation instruction to a robot, receiving an instruction receiving state synchronously returned by the robot, and determining that the robot distribution process is normal if instruction execution result description information and task state description information sent by the robot are received within a first time period; and if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period, determining that the robot delivery process is abnormal. The method and the device take the instruction as a basic unit, track the execution details of each stage of the instruction at a fine granularity, accurately position the fault, solve the problems that the fault in the robot distribution process in the related technology can not be accurately positioned and reproduced, and an implementer needs to go to the site to perform positioning and troubleshooting, and achieve the technical effect of accurately positioning the fault in the robot distribution process.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method and an apparatus for scheduling optimization for robot full-automatic delivery, a computer device, and a computer-readable storage medium.
Background
With the wide application of artificial intelligence technology, robots are generally applied to various delivery scenarios, such as serving, delivery, etc. by robots. The robot may have an abnormality or a fault in the distribution process, and the related technology cannot accurately position and reproduce the fault in the robot distribution process, and needs implementing personnel to go to the site for positioning and troubleshooting. The robot is used as an intelligent terminal, an operating system is arranged in the robot, algorithms such as image modeling, path planning, analog simulation and the like are realized, and when a fault occurs in the distribution process, fault location and troubleshooting are required by means of a system log of the robot. In the actual operation process, the distribution fault also includes the wide operation environment of the terminal at that time, such as network signal blockage, malicious interference of personnel, and the like, and the problem recurrence interference factors are many and cannot be reproduced 100%. The delivery robot has different function customizations in different fields, can integrate third-party application service, causes longer functional link, inaccurate fault location, even needs multiple implementing personnel to go to the site and remote business support.
At present, an effective solution is not provided aiming at the problems that the faults in the robot distribution process in the related technology can not be accurately positioned and reproduced and the implementation personnel need to go to the site for positioning and troubleshooting.
Disclosure of Invention
The embodiment of the application provides a scheduling optimization method, a scheduling optimization device, computer equipment and a computer readable storage medium for robot full-automatic delivery, and aims to at least solve the problems that faults in the robot delivery process cannot be accurately positioned and reproduced and implementation personnel need to go to the site for positioning and troubleshooting in the related technology.
In a first aspect, an embodiment of the present application provides a scheduling optimization method for robot full-automatic delivery, including:
issuing an operation instruction to the robot, and receiving an instruction receiving state synchronously returned by the robot;
if instruction execution result description information and task state description information sent by the robot are received within a first time period, determining that the robot distribution process is normal;
and if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period, determining that the robot delivery process is abnormal.
In some embodiments, if the instruction execution result description information and the task state description information sent by the robot are not received within the predetermined time, the method further includes:
issuing a task state query instruction to the robot;
and if the task state returned by the robot is the operation instruction execution under the condition that the maximum execution time of the operation instruction is exceeded, controlling the task state of the robot to be updated to be abnormal failure.
In some embodiments, after issuing the operation instruction to the robot, the method further includes:
and receiving an operation log of the operation instruction execution process actively reported by the robot.
In some embodiments, after issuing the operation instruction to the robot, the method further includes:
receiving at least one of the following information actively reported by the robot: the robot state measurement log, the operation screen capture and the ambient environment photographing picture.
In some embodiments, after issuing the operation instruction to the robot, the method further includes:
issuing a log obtaining instruction to the robot, wherein the log obtaining instruction is used for indicating that a log of the robot in a second time period is obtained;
and receiving the log of the robot in the second time period returned by the robot.
In some embodiments, before issuing the operation instruction to the robot, the method further includes:
and the formats of the instruction execution result description information and the task state description information are agreed with the robot in advance.
In some embodiments, after issuing the operation instruction to the robot, the method further includes:
and if the command receiving state synchronously returned by the robot is not received, performing message compensation retransmission for a preset number of times.
In a second aspect, an embodiment of the present application provides a scheduling optimization apparatus for robot full-automatic delivery, including:
the first sending unit is used for sending an operation instruction to the robot and receiving an instruction receiving state synchronously returned by the robot;
the first determining unit is used for determining that the robot distribution process is normal if instruction execution result description information and task state description information sent by the robot are received within a first time period;
and the second determining unit is used for determining that the robot delivery process is abnormal if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period.
In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the processor implements the scheduling optimization method for robot full-automatic delivery according to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the scheduling optimization method for robot full-automatic delivery as described in the first aspect.
Compared with the related art, the robot full-automatic delivery scheduling optimization method provided by the embodiment of the application has the advantages that the operation instruction is issued to the robot, the instruction receiving state synchronously returned by the robot is received, and if the instruction execution result description information and the task state description information sent by the robot are received within the first time period, the robot delivery process is determined to be normal; and if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period, determining that the robot delivery process is abnormal. The method and the device have the advantages that the instruction is used as a basic unit, the fine-grained execution details of each stage of the instruction are tracked, the fault is accurately positioned, the problems that the fault in the robot distribution process in the related technology cannot be accurately positioned and reproduced, and the implementing personnel need to go to the site to perform positioning and troubleshooting are solved, and the technical effect of accurately positioning the fault in the robot distribution process is achieved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a mobile terminal according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for scheduling optimization for robot full-automatic delivery according to an embodiment of the present application;
FIG. 3 is a schematic diagram of scheduling optimization for robotic fully automated delivery in accordance with a preferred embodiment of the present application;
fig. 4 is a block diagram of a scheduling optimization apparatus for robot full-automatic delivery according to an embodiment of the present application;
fig. 5 is a hardware structure diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The embodiment provides a mobile terminal. Fig. 1 is a block diagram of a mobile terminal according to an embodiment of the present application. As shown in fig. 1, the mobile terminal includes: a Radio Frequency (RF) circuit 110, a memory 120, an input unit 130, a display unit 140, a sensor 150, an audio circuit 160, a wireless fidelity (WiFi) module 170, a processor 180, and a power supply 190. Those skilled in the art will appreciate that the mobile terminal architecture shown in fig. 1 is not intended to be limiting of mobile terminals and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes each constituent element of the mobile terminal in detail with reference to fig. 1:
the RF circuit 110 may be used for receiving and transmitting signals during information transmission and reception or during a call, and in particular, receives downlink information of a base station and then processes the received downlink information to the processor 180; in addition, the data for designing uplink is transmitted to the base station. Typically, the RF circuit includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like. In addition, the RF circuitry 110 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to global system for mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Message Service (SMS), and the like.
The memory 120 may be used to store software programs and modules, and the processor 180 executes various functional applications and data processing of the mobile terminal by operating the software programs and modules stored in the memory 120. The memory 120 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the mobile terminal, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The input unit 130 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the mobile terminal. Specifically, the input unit 130 may include a touch panel 131 and other input devices 132. The touch panel 131, also referred to as a touch screen, may collect touch operations of a user on or near the touch panel 131 (e.g., operations of the user on or near the touch panel 131 using any suitable object or accessory such as a finger or a stylus pen), and drive the corresponding connection device according to a preset program. Alternatively, the touch panel 131 may include two parts, i.e., a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 180, and can receive and execute commands sent by the processor 180. In addition, the touch panel 131 may be implemented by various types such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. The input unit 130 may include other input devices 132 in addition to the touch panel 131. In particular, other input devices 132 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 140 may be used to display information input by a user or information provided to the user and various menus of the mobile terminal. The display unit 140 may include a display panel 141, and optionally, the display panel 141 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-emitting diode (OLED), or the like. Further, the touch panel 131 can cover the display panel 141, and when the touch panel 131 detects a touch operation on or near the touch panel 131, the touch operation is transmitted to the processor 180 to determine the type of the touch event, and then the processor 180 provides a corresponding visual output on the display panel 141 according to the type of the touch event. Although the touch panel 131 and the display panel 141 are shown in fig. 1 as two separate components to implement the input and output functions of the mobile terminal, in some embodiments, the touch panel 131 and the display panel 141 may be integrated to implement the input and output functions of the mobile terminal.
The mobile terminal may also include at least one sensor 150, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel 141 according to the brightness of ambient light, and a proximity sensor that may turn off the display panel 141 and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration) for recognizing the attitude of the mobile terminal, and related functions (such as pedometer and tapping) for vibration recognition; as for other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which can be configured on the mobile terminal, further description is omitted here.
A speaker 161 and a microphone 162 in the audio circuit 160 may provide an audio interface between the user and the mobile terminal. The audio circuit 160 may transmit the electrical signal converted from the received audio data to the speaker 161, and convert the electrical signal into a sound signal for output by the speaker 161; on the other hand, the microphone 162 converts the collected sound signal into an electric signal, converts the electric signal into audio data after being received by the audio circuit 160, and then outputs the audio data to the processor 180 for processing, and then transmits the audio data to, for example, another mobile terminal via the RF circuit 110, or outputs the audio data to the memory 120 for further processing.
WiFi belongs to a short-distance wireless transmission technology, and the mobile terminal can help a user to send and receive e-mails, browse webpages, access streaming media and the like through the WiFi module 170, and provides wireless broadband internet access for the user. Although fig. 1 shows the WiFi module 170, it is understood that it does not belong to the essential components of the mobile terminal, and it can be omitted or replaced with other short-range wireless transmission modules, such as Zigbee module or WAPI module, etc., as required within the scope not changing the essence of the invention.
The processor 180 is a control center of the mobile terminal, connects various parts of the entire mobile terminal using various interfaces and lines, and performs various functions of the mobile terminal and processes data by operating or executing software programs and/or modules stored in the memory 120 and calling data stored in the memory 120, thereby performing overall monitoring of the mobile terminal. Alternatively, processor 180 may include one or more processing units; preferably, the processor 180 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 180.
The mobile terminal also includes a power supply 190 (e.g., a battery) for powering the various components, which may preferably be logically coupled to the processor 180 via a power management system that may be configured to manage charging, discharging, and power consumption.
Although not shown, the mobile terminal may further include a camera, a bluetooth module, and the like, which will not be described herein.
In this embodiment, the processor 180 is configured to: issuing an operation instruction to the robot, and receiving an instruction receiving state synchronously returned by the robot; if instruction execution result description information and task state description information sent by the robot are received within a first time period, determining that the robot distribution process is normal; and if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period, determining that the robot delivery process is abnormal.
In some of these embodiments, the processor 180 is further configured to: if the instruction execution result description information and the task state description information sent by the robot are not received within the preset time, a task state query instruction is issued to the robot; and if the task state returned by the robot is the operation instruction execution under the condition that the maximum execution time of the operation instruction is exceeded, controlling the task state of the robot to be updated to be abnormal failure.
In some of these embodiments, the processor 180 is further configured to: and after an operation instruction is issued to the robot, receiving an operation log of the operation instruction execution process actively reported by the robot.
In some of these embodiments, the processor 180 is further configured to: after an operation instruction is issued to the robot, at least one of the following information actively reported by the robot is received: the robot state measurement log, the operation screen capture and the ambient environment photographing picture.
In some of these embodiments, the processor 180 is further configured to: after an operation instruction is issued to the robot, a log obtaining instruction is issued to the robot, wherein the log obtaining instruction is used for indicating that a log of the robot in a second time period is obtained; and receiving the log of the robot in the second time period returned by the robot.
In some of these embodiments, the processor 180 is further configured to: before issuing an operation instruction to a robot, the format of the instruction execution result description information and the format of the task state description information are agreed with the robot in advance.
In some of these embodiments, the processor 180 is further configured to: and after an operation instruction is issued to the robot, if the instruction receiving state synchronously returned by the robot is not received, message compensation retransmission is carried out for a preset number of times.
The embodiment also provides a scheduling optimization method for the robot full-automatic delivery. Fig. 2 is a flowchart of a scheduling optimization method for robot full-automatic delivery according to an embodiment of the present application, where as shown in fig. 2, the flowchart includes the following steps:
step S201, issuing an operation instruction to a robot, and receiving an instruction receiving state synchronously returned by the robot;
step S202, if instruction execution result description information and task state description information sent by the robot are received in a first time period, determining that the robot distribution process is normal;
step S203, if the instruction execution result description information and the task state description information sent by the robot are not received within the first time period, it is determined that the robot delivery process is abnormal.
Through the steps, an operation instruction is issued to the robot, and an instruction receiving state synchronously returned by the robot is received, and if instruction execution result description information and task state description information sent by the robot are received within a first time period, the robot is determined to be normal in a distribution process; and if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period, determining that the robot delivery process is abnormal. The method and the device have the advantages that the instruction is used as a basic unit, the fine-grained execution details of each stage of the instruction are tracked, the fault is accurately positioned, the problems that the fault in the robot distribution process in the related technology cannot be accurately positioned and reproduced, and the implementing personnel need to go to the site to perform positioning and troubleshooting are solved, and the technical effect of accurately positioning the fault in the robot distribution process is achieved.
In some embodiments, the embodiment may generate a unique instruction ID in advance and issue an operation designation to the robot, and the robot synchronously returns to an instruction receiving state, where the instruction receiving state includes: successful reception and unsuccessful reception. And after an operation instruction is issued to the robot, if the instruction receiving state synchronously returned by the robot is not received, message compensation retransmission is carried out for a preset number of times. For example, when network environment jitter and terminal restart occur, message compensation retransmission is automatically performed for N times; and notifying manual intervention when the retransmission fails.
In some embodiments, before issuing the operation instruction to the robot, the method further includes: and the formats of the instruction execution result description information and the task state description information are agreed with the robot in advance, so that the positioning and the troubleshooting of the robot faults are facilitated.
After an operation instruction is issued to a robot, if instruction execution result description information and task state description information sent by the robot are received within a first time period, determining that the robot distribution process is normal; and if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period, determining that the robot delivery process is abnormal. The first time period may be set or adjusted according to actual requirements, and is not specifically limited herein. The instruction execution result description information may include, but is not limited to: execution success, execution failure, etc. The task state description information may include, but is not limited to: in-instruction-execution, exception-failure, etc.
In some embodiments, if the instruction execution result description information and the task state description information sent by the robot are not received within the predetermined time, the method further includes: actively issuing a task state query instruction to the robot; and under the condition that the maximum execution time of the operation instruction is exceeded, if the task state returned by the robot is in the operation instruction execution, controlling the task state of the robot to be updated to abnormal failure, actively issuing alarm information, finishing the robot flow, and continuously executing the task scheduling after the manual intervention node state is successful.
In some embodiments, after issuing the operation instruction to the robot, the method further includes: and receiving an operation log of the operation instruction execution process actively reported by the robot so as to conveniently find and locate problems under the abnormal condition of the robot.
In some embodiments, after issuing the operation instruction to the robot, the method further includes: receiving at least one of the following information actively reported by the robot: the robot state measurement log, the operation screen capture and the surrounding environment photographing picture are convenient to locate the environment problem.
In some embodiments, after issuing the operation instruction to the robot, the method further includes: issuing a log obtaining instruction to the robot, wherein the log obtaining instruction is used for indicating that a log of the robot in a second time period is obtained; and receiving the log of the robot in the second time period, which is returned by the robot, so that remote problem location and investigation are facilitated. The second time period may also be set or adjusted according to actual requirements, and is not specifically limited herein.
The embodiments of the present application are described and illustrated below by means of preferred embodiments.
Fig. 3 is a schematic diagram of scheduling optimization of robot full-automatic delivery according to a preferred embodiment of the present application, and as shown in fig. 3, the scheduling optimization method of robot full-automatic delivery in the foregoing embodiment may be executed by the scheduling system in fig. 3, and the scheduling system implements remote maintenance and positioning of a robot delivery process through means of message callback, active task status query, terminal (in the preferred embodiment, the terminal is a robot) information reporting, accurate log pulling, and the like. Specifically, it can be described as follows:
the dispatching system generates a unique instruction ID and issues an operation instruction to the terminal, and the terminal synchronously returns to an instruction receiving state. If the conditions of network environment jitter, terminal restart and the like occur, the scheduling system automatically performs N times of message compensation retransmission; and notifying manual intervention when the retransmission fails.
After the terminal executes the operation instruction, the asynchronous notification scheduling system uploads a status code (i.e., task status description information in the above embodiment) and instruction result description information.
The terminal does not call back the execution result within the effective execution time of the instruction (the effective execution time of the instruction is configurable), and the scheduling system starts the state query of the active task until the final state result of the state execution is obtained.
The terminal does not finish the execution of the instruction within the maximum execution time of the instruction, namely the definite latest task state is 'executing', the scheduling system forcibly updates the instruction state to 'abnormal failure', and actively issues the alarm information, and the process is ended; and the manual intervention node can continue to execute the scheduling of the task after the state is successful.
The terminal actively sends the operation log of the task execution process, so that the problem is conveniently checked and positioned under the abnormal condition.
And regularly uploading a terminal health measurement log (parameters such as network/memory/CPU (Central processing Unit)) and an operation screen capture and a picture of the ambient environment, so that the environmental problem is conveniently positioned.
The scheduling system actively pushes the message, sends an instruction to the terminal, and triggers and pulls the detailed log of the specified time period of the specified terminal, so that remote problem location and troubleshooting are facilitated.
In the preferred embodiment, the instruction is used as a basic unit, the fine-grained tracking of the execution details of each stage (instruction issuing, instruction execution and instruction result feedback) of the instruction is performed, and the problem is accurately positioned; the system integration problem is effectively solved; the state code is appointed with a terminal operating system, so that the problem is conveniently positioned and checked; the detailed log of the appointed time period can be actively pulled, so that the remote problem investigation is facilitated; the effective message retransmission mechanism and the active state query mechanism release resources by actively closing the problem nodes, provide an effective task restart mechanism, and enable the task to be continuously executed or reasonably finished under the condition of manual intervention.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
The embodiment also provides a scheduling optimization device for robot full-automatic delivery, which is used to implement the foregoing embodiments and preferred embodiments, and the description of the device is omitted. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of a scheduling optimization apparatus for robot full-automatic delivery according to an embodiment of the present application, and as shown in fig. 4, the apparatus includes:
the first sending unit 41 is configured to issue an operation instruction to the robot, and receive an instruction receiving state synchronously returned by the robot;
a first determining unit 42, configured to determine that a robot delivery process is normal if instruction execution result description information and task state description information sent by the robot are received within a first time period;
a second determining unit 43, configured to determine that the robot delivery process is abnormal if the instruction execution result description information and the task state description information sent by the robot are not received within the first time period.
In some of these embodiments, the apparatus further comprises: the second sending unit is used for issuing a task state query instruction to the robot if the instruction execution result description information and the task state description information sent by the robot are not received within the preset time; and the control unit is used for controlling the task state of the robot to be updated to be abnormal failure if the task state returned by the robot is the operation instruction execution under the condition that the maximum execution time of the operation instruction is exceeded.
In some of these embodiments, the apparatus further comprises: the first receiving unit is used for receiving an operation log of the operation instruction execution process actively reported by the robot after issuing the operation instruction to the robot.
In some of these embodiments, the apparatus further comprises: the second receiving unit is used for receiving at least one of the following information actively reported by the robot after issuing an operation instruction to the robot: the robot state measurement log, the operation screen capture and the ambient environment photographing picture.
In some of these embodiments, the apparatus further comprises: the third sending unit is used for issuing a log obtaining instruction to the robot after issuing an operation instruction to the robot, wherein the log obtaining instruction is used for indicating to obtain a log of the robot in a second time period; and the third receiving unit is used for receiving the log of the robot in the second time period, which is returned by the robot.
In some of these embodiments, the apparatus further comprises: and the format appointment unit is used for appointing the formats of the instruction execution result description information and the task state description information with the robot in advance before issuing the operation instruction to the robot.
In some of these embodiments, the apparatus further comprises: and the message retransmission unit is used for performing message compensation retransmission for a preset number of times if the synchronous returned instruction receiving state of the robot is not received after the operation instruction is issued to the robot.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The embodiment of the application also provides computer equipment, and the scheduling optimization method for robot full-automatic delivery in combination with the embodiment of the application can be realized by the computer equipment. Fig. 5 is a hardware structure diagram of a computer device according to an embodiment of the present application.
The computer device may comprise a processor 51 and a memory 52 in which computer program instructions are stored.
Specifically, the processor 51 may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.
The memory 52 may be used to store or cache various data files that need to be processed and/or used for communication, as well as possible computer program instructions executed by the processor 51.
The processor 51 reads and executes the computer program instructions stored in the memory 52 to implement the scheduling optimization method for robot full-automatic delivery in any of the above embodiments.
In some of these embodiments, the computer device may also include a communication interface 53 and a bus 50. As shown in fig. 5, the processor 51, the memory 52, and the communication interface 53 are connected via the bus 50 to complete mutual communication.
The communication interface 53 is used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present application. The communication interface 53 may also enable communication with other components such as: the data communication is carried out among external equipment, image/data acquisition equipment, a database, external storage, an image/data processing workstation and the like.
In addition, in combination with the scheduling optimization method for robot full-automatic delivery in the foregoing embodiments, embodiments of the present application may provide a computer-readable storage medium to implement the method. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the above-described embodiments of the method for scheduling and optimizing robot automatic delivery.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot full-automatic delivery scheduling optimization method is characterized by comprising the following steps:
issuing an operation instruction to the robot, and receiving an instruction receiving state synchronously returned by the robot;
if instruction execution result description information and task state description information sent by the robot are received within a first time period, determining that the robot distribution process is normal;
and if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period, determining that the robot delivery process is abnormal.
2. The method for scheduling and optimizing full-automatic robot delivery according to claim 1, wherein if the instruction execution result description information and the task state description information sent by the robot are not received within the predetermined time, the method further comprises:
issuing a task state query instruction to the robot;
and if the task state returned by the robot is the operation instruction execution under the condition that the maximum execution time of the operation instruction is exceeded, controlling the task state of the robot to be updated to be abnormal failure.
3. The method for scheduling optimization of robot full-automatic delivery according to claim 1, wherein after issuing the operation instruction to the robot, the method further comprises:
and receiving an operation log of the operation instruction execution process actively reported by the robot.
4. The method for scheduling optimization of robot full-automatic delivery according to claim 1, wherein after issuing the operation instruction to the robot, the method further comprises:
receiving at least one of the following information actively reported by the robot: the robot state measurement log, the operation screen capture and the ambient environment photographing picture.
5. The method for scheduling optimization of robot full-automatic delivery according to claim 1, wherein after issuing the operation instruction to the robot, the method further comprises:
issuing a log obtaining instruction to the robot, wherein the log obtaining instruction is used for indicating that a log of the robot in a second time period is obtained;
and receiving the log of the robot in the second time period returned by the robot.
6. The method for scheduling optimization of robot full-automatic delivery according to claim 1, wherein before issuing the operation instruction to the robot, the method further comprises:
and the formats of the instruction execution result description information and the task state description information are agreed with the robot in advance.
7. The method for scheduling optimization of robot full-automatic delivery according to claim 1, wherein after issuing the operation instruction to the robot, the method further comprises:
and if the command receiving state synchronously returned by the robot is not received, performing message compensation retransmission for a preset number of times.
8. The utility model provides a dispatch optimization device of full-automatic delivery of robot which characterized in that includes:
the first sending unit is used for sending an operation instruction to the robot and receiving an instruction receiving state synchronously returned by the robot;
the first determining unit is used for determining that the robot distribution process is normal if instruction execution result description information and task state description information sent by the robot are received within a first time period;
and the second determining unit is used for determining that the robot delivery process is abnormal if the instruction execution result description information and the task state description information sent by the robot are not received in the first time period.
9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements a method for scheduling optimization for robot full-automatic delivery according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for scheduling optimization for robotic fully-automatic delivery according to any one of claims 1 to 7.
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