CN112025711B

CN112025711B - Timed task execution method and device for robot and robot

Info

Publication number: CN112025711B
Application number: CN202010939084.0A
Authority: CN
Inventors: 王超
Original assignee: Shanghai Yogo Robot Co Ltd
Current assignee: Shanghai Yogo Robot Co Ltd
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2021-12-10
Anticipated expiration: 2040-09-09
Also published as: CN112025711A

Abstract

The invention discloses a timed task execution method and device of a robot and the robot, wherein the method comprises the following steps: automatically adding the timing task into a local task pool at a preset moment according to the service type, the execution period and the execution time point of the timing task; splitting the timing task into at least one local scheduling task according to the execution flow of the timing task, and establishing a configuration table of all the local scheduling tasks; and executing each local scheduling task at random according to a preset scheduling sequence and a configuration table of the robot, and continuously sending the execution state of the local scheduling task to the cloud end in an event form. The invention does not need the user to repeatedly create the periodic task or the planned task, but enables the robot to be automatically started and ended, thereby helping the robot to realize the long-term automatic watching without human intervention, improving the working efficiency of the robot and simultaneously improving the user experience.

Description

Timed task execution method and device for robot and robot

Technical Field

The invention relates to the field of robots, in particular to a timed task execution method and device of a robot and the robot.

Background

With the rapid development of the robot industry, various service robots emerge endlessly, and the robots are widely applied in life and work. The existing robot scheduling methods generally drive a robot to execute a task which is created by a user through a local or cloud terminal in real time, and do not consider a preset timing task, so that for some periodic tasks or scheduled tasks, such as killing tasks or timing pickup tasks, active and repeated creation still needs to be performed by the user, the operation times of the user are increased, the time utilization rate of the robot is reduced, and the user experience is influenced.

Disclosure of Invention

The invention provides a timed task execution method and device for a robot and the robot, and solves the technical problem that the working efficiency of the robot is influenced because periodic tasks or planned tasks are difficult to automatically start and end.

The technical scheme for solving the technical problems is as follows: a timed task execution method of a robot comprises the following steps:

step 1, automatically adding a timing task into a local task pool at a preset moment according to the service type, the execution period and the execution time point of the timing task;

step 2, splitting the timing task into at least one local scheduling task according to the execution flow of the timing task, and establishing a configuration table of all the local scheduling tasks;

and 3, executing each local scheduling task at random according to the preset scheduling sequence and the configuration table of the robot, and continuously sending the execution state of the local scheduling task to the cloud end in an event form.

In a preferred embodiment, the service types of the timing task comprise a timing killing task, a timing picking-up task, a timing leading task and a timing calling task.

In a preferred embodiment, the continuously sending the execution state of the local scheduling task to the cloud in the form of an event specifically includes the following steps:

step 301, generating an incremental and unique new event id for a new event of the local scheduling task according to the current time, the robot identity certificate and the current event id recorded in the database;

step 302, uploading a new event including the new event id to a cloud server, and recording the new event as an unsent successful event when uploading fails due to a network transmission problem;

and 303, retransmitting the unsent successful events according to the sequence of the new event ids from small to large according to the cycle of the ping/pong request and the network signal strength.

In a preferred embodiment, the automatically adding the timed task to the local task pool at a preset time according to the service type, the execution period, and the execution time point of the timed task specifically includes the following steps:

when the timed task is locally recorded for the robot, generating a preset time according to the service type, the execution period and the execution time point of the timed task, and automatically adding the timed task into a local task pool of the robot at the preset time;

when the timing task is small program entry, station container entry or large screen entry, the timing task is directly established to a cloud end or is synchronized to the cloud end, and is distributed to the fixed robot at the preset moment through the cloud end or is distributed to different robots according to execution cycles, and then the corresponding robots are immediately synchronized to a local task pool from the cloud end.

In a preferred embodiment, the method further comprises an active determination step, wherein the active determination step specifically comprises: and when the robot is in an idle state, judging whether a target timing task which exceeds or is close to the execution time point but is not executed and completed exists according to the configuration table, if so, immediately driving the robot to complete the target timing task, and otherwise, keeping the current state of the robot unchanged.

In a preferred embodiment, the method further comprises an alarming step, wherein the alarming step specifically comprises the following steps: and when the robot is in a preset abnormal state, judging whether a target timing task which exceeds or is close to the execution time point but is not executed and completed exists according to the configuration table, if so, generating an alarm instruction and sending the alarm instruction to the cloud so as to drive the cloud to replace another idle robot to complete the target timing task.

A second aspect of the embodiments of the present invention provides a timed task execution device for a robot, including an acquisition module, a configuration module and a control module,

the acquisition module is used for automatically adding the timing task into a local task pool at a preset moment according to the service type, the execution period and the execution time point of the timing task;

the configuration module is used for splitting the timing task into at least one local scheduling task according to the execution flow of the timing task and establishing a configuration table of all the local scheduling tasks;

the control module is used for executing each local scheduling task according to a preset scheduling sequence of the robot and the configuration table server and continuously sending the execution state of the local scheduling task to the cloud end in an event form.

In a preferred embodiment, the control module includes a status sending unit, and the status sending unit specifically includes:

the event generating unit is used for generating an increasing and unique new event id for the new event of the local scheduling task according to the current time, the robot identity certificate and the current event id recorded in the database;

the event uploading unit is used for uploading a new event comprising the new event id to a cloud server, and when uploading fails due to network transmission problems, the new event is recorded as an unsent successful event;

and the event retransmission unit is used for retransmitting the unsent successful events according to the cycle of the ping/pong request and the network signal strength from small to large according to the new event id.

In a preferred embodiment, the timed task execution device further includes an active determination module, where the active determination module is specifically configured to determine, according to the configuration table, whether there is a target timed task that has exceeded or is close to an execution time point but has not been executed, and if yes, immediately drive the control module to control the robot to complete the target timed task, otherwise, keep the current state of the robot unchanged.

In a preferred embodiment, the timed task execution device further includes an alarm module, and the alarm module is specifically configured to determine whether there is a target timed task that has exceeded or is close to the execution time point but is not executed and completed according to the configuration table when the robot is in a preset abnormal state, and if yes, generate an alarm instruction and send the alarm instruction to the cloud end to drive the cloud end to replace another idle robot to complete the target timed task.

In a preferred embodiment, the obtaining module is configured to generate a preset time according to a service type, an execution cycle, and an execution time point of the timed task when the timed task is locally recorded in the robot, and automatically add the timed task to a local task pool of the robot at the preset time; and the timing task is directly created to the cloud end or is synchronized to the cloud end when the timing task is small program entry, station container entry or large screen entry, and is distributed to the fixed robot at the preset moment through the cloud end or is distributed to different robots according to the execution period, and then the corresponding robot immediately synchronizes to the local task pool from the cloud end.

A third aspect of the embodiments of the present invention provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the timed task execution method of the robot when executing the computer program.

A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described timed task execution method for a robot.

The invention provides a timed task execution method and device of a robot and the robot, which can automatically start and end the robot without repeatedly creating periodic tasks or planned tasks by a user, thereby helping the robot realize long-term automatic watching without human intervention, improving the working efficiency of the robot and improving the user experience.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic flowchart of a timed task execution method of a robot provided in embodiment 1;

FIG. 2 is a schematic structural diagram of a timed task execution device of a robot according to embodiment 2;

fig. 3 is a schematic circuit diagram of a controller provided in embodiment 3.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.

The robot of embodiments of the present invention may be configured in any suitable shape to perform a particular business function operation, for example, the robot of embodiments of the present invention may be a delivery robot, a transfer robot, a care robot, and the like.

The robot generally includes a housing, a sensor unit, a drive wheel assembly, a memory assembly, and a controller. The housing may be substantially circular in shape, and in some embodiments, the housing may be substantially oval, triangular, D-shaped, cylindrical, or otherwise shaped.

The sensor unit is used for collecting some motion parameters of the robot and various data of the environment space. In some embodiments, the sensor unit comprises a lidar mounted above the housing at a mounting height above a top deck height of the housing, the lidar being for detecting an obstacle distance between the robot and an obstacle. In some embodiments, the sensor unit may also include an Inertial Measurement Unit (IMU), a gyroscope, a magnetic field meter, an accelerometer or velocimeter, an optical camera, and so forth.

The driving wheel component is arranged on the shell and drives the robot to move on various spaces, and in some embodiments, the driving wheel component comprises a left driving wheel, a right driving wheel and an omnidirectional wheel, and the left driving wheel and the right driving wheel are respectively arranged on two opposite sides of the shell. The left and right drive wheels are configured to be at least partially extendable and retractable into the bottom of the housing. The omni-directional wheel is arranged at the position, close to the front, of the bottom of the shell and is a movable caster wheel which can rotate 360 degrees horizontally, so that the robot can flexibly steer. The left driving wheel, the right driving wheel and the omnidirectional wheel are arranged to form a triangle, so that the walking stability of the robot is improved. Of course, in some embodiments, the driving wheel component may also adopt other structures, for example, the omni wheel may be omitted, and only the left driving wheel and the right driving wheel may be left to drive the robot to normally walk.

In some embodiments, the robot is further configured with a storage component that is mounted within the receiving slot to accomplish a delivery task or the like.

The controller is respectively and electrically connected with the left driving wheel, the right driving wheel, the omnidirectional wheel and the laser radar. The controller is used as a control core of the robot and is used for controlling the robot to walk, retreat and some business logic processing.

In some embodiments, the controller may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, ar (aconris cmachine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the controller may be any conventional processor, controller, microcontroller, or state machine. A controller may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP, and/or any other such configuration.

In some embodiments, during the movement of the robot, the controller employs SLAM (simultaneous localization and mapping) technology to construct a map and a position according to the environmental data, so as to move to a target location to complete a delivery task, a cleaning task, and the like. The controller instructs the robot to completely traverse an environmental space through a full coverage path planning algorithm based on the established map and the position of the robot. For example, during the robot traversal, the sensor unit acquires an image of a traversal region, wherein the image of the traversal region may be an image of the entire traversal region or an image of a local traversal region in the entire traversal region. The controller generates a map from the image of the traversal area, the map having indicated an area that the robot needs to traverse and coordinate locations at which obstacles located in the traversal area are located. After each location or area traversed by the robot, the robot marks that the location or area has been traversed based on the map. In addition, as the obstacle is marked in a coordinate mode in the map, when the robot passes, the distance between the robot and the obstacle can be judged according to the coordinate point corresponding to the current position and the coordinate point related to the obstacle, and therefore the robot can pass around the obstacle. Similarly, after the position or the area is traversed and marked, when the next position of the robot moves to the position or the area, the robot makes a strategy of turning around or stopping traversing based on the map and the mark of the position or the area.

It will be appreciated that the controller may also identify traversed locations or areas, or identify obstacles, in a variety of ways to develop a control strategy that meets product needs.

Referring to fig. 1, a schematic flow chart of a method for executing a timed task of a robot according to embodiment 1 of the present invention is shown in fig. 1, where the method includes the following steps:

step 1, automatically adding the timing task into a local task pool at a preset moment according to the service type, the execution period and the execution time point of the timing task. In this embodiment, the entry form of the timed task includes robot local entry, small program entry, site container entry and large screen entry, and if the robot local entry is performed, the timed task directly enters a local task pool of the robot at a preset time, and the preset time is determined by an execution cycle, an execution time point and a service type of the timed task. For example, in an embodiment, the preset time is N hours before the execution time point, the service types are different, the value of N is different, and for the killing task, N may be 2 hours, if the execution cycle of the killing task is daily and the execution time point is ten nights, the killing task will enter the local task pool of the corresponding robot before eight nights every day, and be executed together with other tasks in the local task pool according to the preset scheduling sequence.

If the timing task is small program entry, site container entry or large screen entry, the timing task can be directly created to a cloud end or synchronized to the cloud end, the cloud end is distributed to the fixed robot at the preset moment or distributed to different robots each time according to the execution cycle, and then the corresponding robots are immediately synchronized to a local task pool from the cloud end.

And then step 2 is executed, the timing task is divided into at least one local scheduling task according to the execution flow of the timing task, and a configuration table of all the local scheduling tasks is established. Here, the timed tasks of the robot include a timed killing task, a timed pick-up task, a timed leading task, a timed calling task, and the like, and the configuration table includes configuration information such as an execution cycle, an execution time point, a task point location, a killing mode, a killing type, a calling mode, a leading mode, and the like.

Meanwhile, the local scheduling tasks split by the timing tasks are inseparable and continuous, and each local scheduling task has a pair of initial point locations and target point locations. In a preferred embodiment, the created timing task is a timing pick-and-place task, for example, 8 points per day are taken for cola by a fixed robot going to a container station, and the local scheduling task includes a timing pick-and-place scheduling task and a timing pick-and-place scheduling task, a point location of the timing pick-and-place scheduling task changes from a current position of the robot to a target pick-and-place point location (i.e., a point location of the container station), and a point location corresponding to the timing pick-and-place scheduling task changes from the target pick-and-place point location to the target pick-and-place point location. Or in another embodiment, the created timed task is a timed killing task, such as a timed killing whole building at 21 o 'clock per day, the timed killing task only includes one local scheduling task, namely, a killing scheduling task, and the configuration table established for the killing scheduling task includes killing mode (simple or professional), timed period (daily), killing type (spray or UVC), killing time point (21 o' clock), and the like.

Thus, one timing task is composed of a plurality of local scheduling tasks, other tasks of the local pool of the robot are also composed of at least one corresponding scheduling task, and the different scheduling tasks have the same target point position or the same target floor, so that the moving path of the robot is planned according to the dimensionality of the scheduling tasks, each local scheduling task is completed according to the configuration table, and finally all tasks including the timing task are completed.

And 3, executing each local scheduling task at random according to the preset scheduling sequence and the configuration table of the robot, and continuously sending the execution state of the local scheduling task to the cloud end in an event form. The preset scheduling order of the robot includes various types, such as the shorter the remaining execution time, the shorter the moving distance, the higher the number of scheduled tasks on the same floor, the earlier the scheduled tasks on the floor are performed, and the like, and will not be described in detail herein.

In a preferred embodiment, the execution state of the local scheduling task is continuously sent to the cloud in the form of an event, that is, when the execution state of the local scheduling task changes, the changed execution state is sent to the cloud in the form of a new event, so that the execution state is kept synchronous with the cloud. The method specifically comprises the following steps:

In a preferred embodiment, the method for executing the timed task further includes an active determination step, where the active determination step specifically includes: and when the robot is in an idle state, judging whether a target timing task which exceeds or is close to the execution time point but is not executed and completed exists according to the configuration table, if so, immediately driving the robot to complete the target timing task, and otherwise, keeping the current state of the robot unchanged. For example, if the controller of the robot finds that the robot does not have an executable task at present, whether a killing task of the killing type is executed in an execution cycle is judged according to the configuration table, and if not, the robot is driven to complete a corresponding timed killing task.

In another preferred embodiment, the method for executing the timed task further includes an alarming step, and the alarming step specifically includes: and when the robot is in a preset abnormal state, judging whether a target timing task which exceeds or is close to the execution time point but is not executed and completed exists according to the configuration table, if so, generating an alarm instruction and sending the alarm instruction to the cloud so as to drive the cloud to replace another idle robot to complete the target timing task. The preset abnormal state comprises that the robot is in an elevator or gate scene for a long time, the robot is stuck for a long time, at least one retention task, at least one delivery task to be delivered for a long time and at least one delivery task waiting for goods taking for a long time exist in the robot, and the like.

The embodiment provides a timed task execution method for a robot, which does not need repeated creation of a periodic task or a planned task by a user any more, but enables the robot to be automatically started and ended, thereby helping the robot to realize long-term automatic unattended operation without human intervention, improving the working efficiency of the robot, and improving the user experience.

It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present invention that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.

As another aspect of the embodiments of the present invention, an embodiment of the present invention further provides a timed task execution device for a robot. The timed task execution device of the robot may be a software module, where the software module includes a plurality of instructions, which are stored in a memory, and the processor may access the memory and call the instructions to execute the instructions, so as to complete the timed task execution method of the robot described in the above embodiments.

In some embodiments, the timed task execution device of the robot may also be built by hardware devices, for example, the timed task execution device of the robot may be built by one or more than two chips, and the chips may work in coordination with each other to complete the timed task execution method of the robot described in the above embodiments. For another example, the timed task execution device of the robot may also be constructed by various logic devices, such as a general processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, an arm (aconris cmachine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

Fig. 2 is a schematic structural diagram of a timed task execution device of a robot according to embodiment 2 of the present invention, the timed task execution device of the robot includes an acquisition module 100, a configuration module 200 and a control module 300,

the acquisition module 100 is configured to automatically add the timing task to a local task pool at a preset time according to a service type, an execution period, and an execution time point of the timing task;

the configuration module 200 is configured to split the timing task into at least one local scheduling task according to an execution flow of the timing task, and establish a configuration table of all local scheduling tasks;

the control module 300 is configured to execute each local scheduling task according to a preset scheduling sequence of the robot and the configuration table server, and continuously send an execution state of the local scheduling task to the cloud in an event form.

In a preferred embodiment, the control module 300 includes a status sending unit 301, where the status sending unit 301 specifically includes:

an event generating unit 3011, configured to generate an incremental and unique new event id for a new event of the local scheduling task according to the current time, the robot identity, and a current event id recorded in the database;

an event uploading unit 3012, configured to upload a new event including the new event id to a cloud server, and when uploading fails due to a network transmission problem, record the new event as an unsent successful event;

and the event retransmission sheet 3013 element is configured to retransmit the unsent successful events in an order from small to large of the new event id according to the cycle of the ping/pong request and the network signal strength.

In a preferred embodiment, the timed task execution device further includes an active determination module 400, where the active determination module 400 is specifically configured to determine, according to the configuration table, whether there is a target timed task that has exceeded or is close to an execution time point but is not executed and completed when the robot is in an idle state, if so, immediately drive the control module to control the robot to complete the target timed task, and otherwise, keep the current state of the robot unchanged.

In a preferred embodiment, the timed task execution device further includes an alarm module 500, where the alarm module 500 is specifically configured to determine whether there is a target timed task that has exceeded or is close to the execution time point but is not executed and completed according to the configuration table when the robot is in a preset abnormal state, and if so, generate an alarm instruction and send the alarm instruction to the cloud end to drive the cloud end to replace another idle robot to complete the target timed task.

In a preferred embodiment, the obtaining module 100 is configured to generate a preset time according to a service type, an execution cycle, and an execution time point of the timed task when the timed task is locally recorded in the robot, and automatically add the timed task to a local task pool of the robot at the preset time; and the timing task is directly created to the cloud end or is synchronized to the cloud end when the timing task is small program entry, station container entry or large screen entry, and is distributed to the fixed robot at the preset moment through the cloud end or is distributed to different robots according to the execution period, and then the corresponding robot immediately synchronizes to the local task pool from the cloud end.

The timed task execution device of the robot can execute the timed task execution method of the robot provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the timed task execution device of the robot, reference may be made to the timed task execution method of the robot provided in the embodiment of the present invention.

Fig. 3 is a schematic circuit diagram of a controller according to an embodiment of the present invention. As shown in fig. 3, the controller 600 includes one or more processors 61 and a memory 62. In fig. 3, one processor 61 is taken as an example.

The processor 61 and the memory 62 may be connected by a bus or other means, such as the bus connection in fig. 3.

The memory 62, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the timed task execution method of the robot in the embodiment of the present invention. The processor 61 executes various functional applications and data processing of the timed task execution device of the robot by running the nonvolatile software program, instructions and modules stored in the memory 62, that is, the timed task execution method of the robot provided by the above method embodiment and the functions of the various modules or units of the above device embodiment are realized.

The memory 62 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 non-volatile solid state storage device. In some embodiments, the memory 62 may optionally include memory located remotely from the processor 61, and these remote memories may be connected to the processor 61 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The program instructions/modules are stored in the memory 62 and, when executed by the one or more processors 61, perform the timed task execution method of the robot in any of the method embodiments described above.

Embodiments of the present invention also provide a non-transitory computer storage medium storing computer-executable instructions, which are executed by one or more processors, such as the processor 61 in fig. 3, so that the one or more processors can execute the timed task execution method of the robot in any of the above method embodiments.

Embodiments of the present invention also provide a computer program product, where the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by an electronic device, the electronic device is caused to execute any one of the timed task execution methods of the robot.

The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A timed task execution method of a robot is characterized by comprising the following steps:

step 2, splitting the timing task into at least one local scheduling task according to the execution flow of the timing task, planning a moving path of the robot according to the at least one local scheduling task of the timing task and the at least one local scheduling task corresponding to the current task in the local pool of the robot, and establishing a configuration table comprising the local scheduling tasks respectively corresponding to all tasks in the local task pool of the robot; the local scheduling tasks divided by the timing tasks are inseparable and continuous, and each local scheduling task is provided with a pair of initial point positions and target point positions; the configuration table comprises one or more of an execution cycle, an execution time point, a task point location, a killing mode, a killing type, a calling mode and a leading mode;

and 3, executing each local scheduling task in a servo mode according to a preset scheduling sequence and a configuration table of the robot, and continuously sending the execution state of the local scheduling task to the cloud end in an event mode to complete all tasks including the timing task.

2. The timed task execution method of a robot according to claim 1, wherein the service types of the timed task include a timed kill task, a timed pick-up task, a timed lead task, and a timed summon task.

3. The timed task execution method of the robot according to claim 1, wherein the step of continuously sending the execution state of the local scheduling task to the cloud in the form of an event specifically includes the steps of:

4. The timed task execution method of the robot according to any one of claims 1 to 3, wherein the timed task is automatically added to the local task pool at a preset time according to the service type, the execution cycle and the execution time point of the timed task, and specifically comprises the following steps:

5. The timed task execution method of a robot according to claim 4, further comprising an active determination step, wherein the active determination step specifically comprises: and when the robot is in an idle state, judging whether a target timing task which exceeds or is close to the execution time point but is not executed and completed exists according to the configuration table, if so, immediately driving the robot to complete the target timing task, and otherwise, keeping the current state of the robot unchanged.

6. The timed task execution method of the robot according to claim 5, further comprising an alarm step, wherein the alarm step is specifically: and when the robot is in a preset abnormal state, judging whether a target timing task which exceeds or is close to the execution time point but is not executed and completed exists according to the configuration table, if so, generating an alarm instruction and sending the alarm instruction to the cloud so as to drive the cloud to replace another idle robot to complete the target timing task.

7. A timed task execution device of a robot is characterized by comprising an acquisition module, a configuration module and a control module,

the configuration module is used for splitting the timing task into at least one local scheduling task according to the execution flow of the timing task, planning a moving path of the robot according to the at least one local scheduling task of the timing task and the at least one local scheduling task corresponding to the current task in the local robot pool, and establishing a configuration table comprising the local scheduling tasks respectively corresponding to all tasks in the local robot pool; the local scheduling tasks divided by the timing tasks are inseparable and continuous, and each local scheduling task is provided with a pair of initial point positions and target point positions; the configuration table comprises one or more of an execution cycle, an execution time point, a task point location, a killing mode, a killing type, a calling mode and a leading mode;

the control module is used for executing each local scheduling task according to a preset scheduling sequence of the robot and the configuration table server, and continuously sending the execution state of the local scheduling task to the cloud end in an event form to complete all tasks including the timing task.

8. The timed task execution device of the robot according to claim 7, wherein the acquisition module is configured to generate a preset time according to a service type, an execution cycle, and an execution time point of the timed task when the timed task is locally recorded in the robot, and automatically add the timed task to a local task pool of the robot at the preset time; and the timing task is directly created to the cloud end or is synchronized to the cloud end when the timing task is small program entry, station container entry or large screen entry, and is distributed to the fixed robot at the preset moment through the cloud end or is distributed to different robots according to the execution period, and then the corresponding robot immediately synchronizes to the local task pool from the cloud end.

9. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements a method for timed task execution for a robot according to any of claims 1-6.

10. A robot, characterized by comprising a computer readable storage medium according to claim 9 and a processor which, when executing a computer program on the computer readable storage medium, carries out the steps of the timed task execution method of a robot according to any of claims 1-6.