CN113156951B - Task transfer method, device, equipment and storage medium - Google Patents
Task transfer method, device, equipment and storage medium Download PDFInfo
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- CN113156951B CN113156951B CN202110440309.2A CN202110440309A CN113156951B CN 113156951 B CN113156951 B CN 113156951B CN 202110440309 A CN202110440309 A CN 202110440309A CN 113156951 B CN113156951 B CN 113156951B
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- 238000012546 transfer Methods 0.000 title claims abstract description 34
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- 238000013439 planning Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 30
- 238000012384 transportation and delivery Methods 0.000 claims description 16
- 238000002716 delivery method Methods 0.000 claims description 15
- 238000013459 approach Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 10
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The invention discloses a task transfer method, a device, equipment and a storage medium, wherein the method is applied to a first robot and comprises the following steps: receiving a task instruction, and performing global path planning according to a travelling destination in the task instruction to obtain a first path, wherein the first robot moves along the first path; when the travelling destination is not in the range of the first area and the first robot moves to the boundary of the first area along the first path, transmitting a task instruction to the second robot; the first path passes through the second area, the second robot moves in the second area, and when the second robot receives the task instruction, the second robot performs global path planning according to the travelling destination in the task instruction to obtain a second path, and moves along the second path. One or more robots are movably arranged in one area, and task instructions can be transmitted to the robots in the next area, so that the robots are prevented from remotely executing task instructions, and the use efficiency of the robots is improved.
Description
Technical Field
The present invention relates to the field of robot applications, and in particular, to a task transfer method, apparatus, device, and storage medium.
Scene technology
With the rapid development of science and technology, robots have been applied to various service industries such as security patrol, fast delivery, and scenic spot navigation. Most of the existing service robots are arranged at a certain fixed point, people seeking help need to actively find the service robots, then help seeking and service are completed by operating the service robots, for example, shopping guide robots in a market, and the robots are indistinguishable from an intelligent screen and cannot solve the requirements of people on following or leading the service. The mobile service robot can realize the following, leading and other services in the local area. However, when the navigation destination deviates from the original position farther, the robot has to be returned across a plurality of areas, and robot resources are wasted in the long-distance return, which is disadvantageous to improving the use efficiency of the robot.
Disclosure of Invention
The invention mainly aims to provide a task transfer method, a task transfer device, task transfer equipment and a storage medium, and aims to improve the use efficiency of a robot.
In addition, in order to achieve the above object, the present invention also provides a task transfer method, including the steps of:
receiving a task instruction, and performing global path planning according to a travelling destination in the task instruction to obtain a first path, wherein the first robot moves along the first path;
when the travel destination is not in the range of the first area, transmitting the task instruction to a second robot when the first robot moves to the boundary of the first area along the first path;
the first path passes through a second area, the second area is other areas outside the first area, the second robot moves in the second area, when the second robot receives the task instruction, global path planning is performed according to a travelling destination in the task instruction to obtain a second path, and the second robot moves along the second path.
Optionally, when the travel destination is not within the range of the first area, and the first robot moves to the boundary of the first area along the first path, the task instruction is transferred to a second robot, including:
stopping moving when the travel destination is not within the range of the first area and the first robot moves to the boundary of the first area along the first path;
searching for a schedulable second robot located in a second area and establishing a communication connection with the second robot;
and transmitting the task instruction to the second robot based on the communication connection.
Optionally, after the searching for the schedulable second robot located in the second area and establishing a communication connection with the second robot, the method includes:
based on the communication connection, the first robot sends current position information of the first robot to the second robot; and when the second robot receives the current position information, the second robot starts positioning navigation according to the current position information so as to approach the first robot.
Optionally, when the second robot receives the current position information, the second robot starts positioning navigation to approach the first robot according to the current position information, including:
when the second robot receives the current position information, the second robot performs global path planning according to the current position information of the first robot to obtain a third path so that the second robot moves along the third path;
and stopping moving when the second robot moves to the boundary of the second area along the third path.
Optionally, after the task instruction is transferred to a second robot when the first robot moves to a boundary of the first area along the first path when the travel destination is not within the range of the first area, the method includes:
and the first robot terminates executing the task instruction and broadcasts a task transfer prompt to indicate that the second robot is executing the task instruction.
Optionally, configuring a preset number of first robots according to the area size of the first area; and/or configuring a preset number of second robots according to the area size of the second area.
Optionally, a signal tag is arranged on the boundary of the first area, and when the first robot acquires the signal tag, the first robot is positioned on the boundary of the first area; and/or
And a signal tag is arranged on the boundary of the second area, and when the second robot acquires the signal tag, the second robot is positioned on the boundary of the second area.
In addition, in order to achieve the above object, the present invention also provides a task transfer device including:
the moving module is used for receiving a task instruction, and carrying out global path planning according to a travelling destination in the task instruction so as to obtain a first path, wherein the first robot moves along the first path;
a task transfer module for transferring the task instruction to a second robot when the first robot moves to a boundary of the first area along the first path when the travel destination is not within the range of the first area; the first path passes through a second area, the second robot moves in the second area, when the second robot receives the task instruction, global path planning is performed according to a travelling destination in the task instruction to obtain a second path, and the second robot moves along the second path.
In addition, in order to achieve the above object, the present invention also provides a task delivery apparatus including: the task delivery system comprises a memory, a processor and a task delivery program stored in the memory and capable of running on the processor, wherein the task delivery program realizes the steps of the task delivery method when being executed by the processor.
In order to achieve the above object, the present invention also provides a storage medium having a task transfer program stored thereon, which when executed by a processor, implements the steps of the task transfer method described above.
The embodiment of the invention provides a task transfer method, a device, equipment and a storage medium. The task transfer method is applied to a first robot, the first robot moves in a first area, the first robot receives a task instruction, then overall path planning is conducted according to a travelling destination in the task instruction to obtain a first path, the first robot moves along the first path, if the travelling destination in the task instruction is not in the range of the first area, the first robot transfers the task instruction to a second robot when the first robot moves to the boundary of the first area along the first path, the second robot moves in a second area, the first path passes through the second area, the second robot conducts overall path planning according to the travelling destination in the task instruction when receiving the task instruction transferred by the first robot, and the second robot moves along the second path to complete the transfer of the task instruction. In the application, one or more robots are moved in one area, and task instructions can be transmitted to the robots in the next area through association between the robots and the areas, so that the robots are prevented from executing one task instruction in a long distance, and the use efficiency of the robots is improved.
Drawings
Fig. 1 is a schematic hardware structure of an implementation manner of a task delivery device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a task delivery method according to a first embodiment of the present invention;
fig. 3 is a schematic view of an application scenario in a first embodiment of a task delivery method according to the present invention;
FIG. 4 is a functional block diagram of a task delivery device according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
The task transfer terminal (also called terminal, equipment or terminal equipment) of the embodiment of the invention can be equipment with a data processing function, and can also be a robot provided with a control and power system.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and so on. Among other sensors, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal moves to the ear. As one of the motion sensors, a gravitational acceleration sensor may detect the magnitude of acceleration in each direction (typically, three axes), vibration recognition-related functions (such as pedometer, knock), and the like; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a task delivery program may be included in the memory 1005 as one type of storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a task delivery program stored in the memory 1005, which when executed by the processor, implements the operations in the task delivery method provided by the embodiment described below.
Based on the hardware structure of the device, the embodiment of the task transfer method is provided.
Referring to fig. 2, in a first embodiment of the task delivery method of the present invention, the task delivery method includes steps S10 to S20:
step S10, a task instruction is received, global path planning is conducted according to a travelling destination in the task instruction so as to obtain a first path, and the first robot moves along the first path.
The task transfer method in this embodiment is applied to a first robot, where the first robot moves in a first area, a task transfer program may be installed in the first robot, the task transfer program may be compiled by a task transfer device, and the task transfer device may be a device with a program compiling function, such as a personal computer.
As shown in fig. 3, the application scenario of the task delivery method in this embodiment is that one or more mobile service robots are respectively configured in a plurality of non-overlapping areas (such as an area a, an area B, an area C, an area D and an area E in fig. 3). For example, hotels are divided into a plurality of non-overlapping areas, each of which is continuous or discontinuous, and one or more mobile service robots are disposed in each area. For example, when a robot is used for carrying goods and needs to span an uneven area, the prior art mostly adopts to change the structure of the robot when solving the problems in the scene, so that the robot can span complex terrains, but the hardware cost of the robot is definitely increased, the complexity of planning a path for carrying goods across terrains is also increased, and the difficulty of positioning and navigation is increased; alternatively, a single robot is used in the prior art to perform tasks, the robot has to span multiple areas, and robot resources are wasted in the long-distance return. According to the method, the plurality of robots are arranged to jointly complete the transmission of the task instructions, one or more robots are fixed in one area, and the robots in the plurality of areas complete the transmission of the task instructions through information transmission.
Specifically, as shown in fig. 3, there are at least two robots in the present embodiment, and the example is that the robots are two, specifically, a first robot and a second robot. The application scene is divided into a plurality of areas, and the application scene is divided into a first area and a second area by taking the example of dividing the application scene into two areas. The first robot is constrained to move within a first zone and the second robot is constrained to move within a second zone. The robot disposed in the first area is a first robot, first, the first robot receives a task instruction, the task instruction includes a target task, and a location where the target task needs to be finally completed, that is, a travel destination in the embodiment, the first robot performs global path planning according to the travel destination in the task instruction after receiving the task instruction, so as to obtain a first path, and the first robot moves along the first path. Specifically, when the travelling destination is not in the first area, and therefore, the first path obtained by performing global path planning passes through at least two areas, the first robot is fixedly arranged in the first area, and therefore, when the first robot moves to the boundary of the first area along the first path, a task instruction needs to be transmitted to the second robot, wherein the first path passes through the second area where the second robot is located, and the second area is adjacent to the first area.
And step S20, when the travelling destination is not in the range of the first area and the first robot moves to the boundary of the first area along the first path, transmitting the task instruction to a second robot.
It is known that if the travel destination is within the range of the first area, the first robot performs global path planning to obtain a first path that is all located in the first area, and at this time, the first robot does not need to transmit a task instruction to the second robot, and the first robot only needs to perform simple path planning directly based on the first area. Therefore, in this embodiment, the range that the travel destination is not in the first area is the optimal embodiment, when the first robot moves to the boundary of the first area along the first path, the first robot transmits the task instruction including the target task and the travel destination to the second robot, wherein the second robot is fixedly arranged in the second area, and the first path passes through the second area, it is understood that when the first robot moves to the boundary of the first area along the first path, the second robot in the second area can also move to the boundary of the second area close to the first area at the same time, and when the second area is close to the boundary of the first area, the movement is stopped to receive the task instruction transmitted by the first robot.
In this embodiment, the first path passes through a second area, the second robot moves in the second area, and when the second robot receives the task instruction, global path planning is performed according to a travelling destination in the task instruction to obtain a second path, so that the second robot moves along the second path.
In a preferred embodiment, when the second robot moves to the boundary of the second area close to the first area, the second robot receives the task instruction transmitted by the first robot, and after receiving the task instruction, the second robot first obtains the travelling destination in the task instruction, and then performs global path planning again according to the travelling destination and the position of the second robot, so as to obtain a second path, and the second robot can move along the second path. If the advancing destination is in the second area, after the second robot moves to the advancing destination, the target task in the task instruction is completed; if the traveling destination is not within the range of the first area and the second area (including the area boundary), after the second robot moves to the boundary of the second area, the second robot will also transmit the task instruction to other robots to continue to execute the task instruction transmission, where the task transmission manner is the same as the transmission manner from the first robot to the second robot, and is not repeated here.
In the application, one or more robots are moved in one area, and task instructions can be transmitted to the robots in the next area through association between the robots and the areas, so that the robots are prevented from executing one task instruction in a long distance, and the use efficiency of the robots is improved.
Specifically, the step of refining at step S20 includes steps a1-a3:
and a step a1 of stopping movement when the travel destination is not within the range of the first area and the first robot moves to the boundary of the first area along the first path.
And a2, searching a schedulable second robot located in a second area, and establishing communication connection with the second robot.
And a step a3 of transmitting the task instruction to the second robot based on the communication connection.
It is known that a plurality of robots may be disposed in one area, and when the travel destination is not within the range of the first area, the first robot stops moving when the first robot moves to the boundary of the first area along the first path obtained by performing global path planning on the first robot, at this time, the first robot starts searching for a second robot in a schedulable state in the second area, specifically, when there are a plurality of robots in the second area, the first robot may first search for a second robot in a schedulable state in the plurality of robots in the second area, because there may be robots in the plurality of robots in the second area that are executing other task instructions, and when the robots are executing task instructions, the robots are in an unscheduleable state. That is, it is necessary to search for the second robot in the idle state, and the second robot continues to execute the task instruction received by the first robot. When the first robot searches for a second robot in a schedulable state in the second area, the first robot establishes communication connection with the schedulable second robot, and then on the basis of the communication connection, the first robot transmits a task instruction to the second robot. In the link that the first robot establishes communication connection with the second robot, it is optional that: the first robot transmits the task instruction to cloud management, and the cloud management transmits the task instruction to the second robot.
Specifically, the steps following step a2 include step b1:
step b1, based on the communication connection, the first robot sends the current position information of the first robot to the second robot; and when the second robot receives the current position information, the second robot starts positioning navigation according to the current position information so as to approach the first robot.
It is known that after the first robot establishes a communication connection with the second robot in the second area in the schedulable state, the first robot is located in the first area near the boundary of the second area, and the second robot in the second area in the schedulable state may be located at any position in the second area.
In this application, first robot can only be in first regional activity, and the second robot can only be in the second regional activity, therefore, the second robot carries out location navigation according to the positional information of first robot, can make the second robot be close to first robot.
In the application, when the second robot receives the current position information, the second robot performs global path planning according to the current position information of the first robot to obtain a third path, so that the second robot moves along the third path. And stopping moving when the second robot moves to the boundary of the second area along the third path.
In consideration of the relationship between the communication connection and the distance between the first robot and the second robot in the schedulable state in the second area, the embodiment may further establish the communication connection after the second robot in the schedulable state in the second area moves toward the first robot, and it is understood that the first area and the second area are not necessarily completely adjacent, if a certain distance exists between the second area and the first area, that is, the first area and the second area are discontinuous, the second robot in the schedulable state in the second area may perform global path planning according to the current position information of the first robot after receiving the current position information of the first robot, so as to obtain a third path, and when the second robot in the schedulable state in the second area moves to a position where the second area is close to the boundary of the first area along the third path, the second robot in the schedulable state stops moving.
Specifically, the steps following step S20 include step d1:
and d1, the first robot terminates executing the task instruction and broadcasts a task transfer prompt to indicate that the second robot is executing the task instruction.
After the first robot transmits the task instruction to the second robot, the first robot finishes the task instruction transmission, then the first robot terminates the task instruction execution, and broadcasts the task transmission prompt in a voice mode to remind the personnel related to the task instruction, the task instruction is transmitted to the second robot, and it is understood that the second robot can remind the personnel related to the task instruction by broadcasting the task transmission prompt after the task instruction transmission is finished, or the task instruction transmission is finally finished.
Specifically, the task delivery method further includes step e1:
step e1, configuring a preset number of first robots according to the area of the first area; and/or configuring a preset number of second robots according to the area size of the second area.
It is known that one or more mobile service robots may be fixedly disposed in each area, and the number of robots fixedly disposed in one area is related to the area of each area. Optionally, the preferable relation between the area of the area and the number of the robots arranged in the area is that the larger the area of the area is, the more the robots are arranged in the area, namely, the preset number of first robots are arranged according to the area size of the first area; or configuring a preset number of second robots according to the area size of the second area.
Specifically, the task delivery method further includes step f1:
step f1, a signal tag is arranged on the boundary of the first area, and when the first robot acquires the signal tag, the first robot is positioned on the boundary of the first area; and/or a signal tag is arranged on the boundary of the second area, and when the second robot acquires the signal tag, the second robot is positioned on the boundary of the second area.
It is known how the first robot and the second robot determine the area where they can move, and this embodiment provides an embodiment in which the boundary of each area is provided with a signal tag, when the robot detects the signal tag, it can determine that the boundary of the area has been reached, for example, an RFID tag is laid under the boundary of the first area, when the first robot detects the RFID tag, it stops moving, it is determined that the first robot has moved to the boundary of the first area, and similarly, an RFID tag is laid under the boundary of the second area, when the second robot detects the RFID tag, it is determined that the second robot has moved to the boundary of the second area.
In other embodiments, virtual walls may be provided in the navigational map, with the virtual walls being used to plan a first area and a second area, for limiting movement of the first robot only within the first area, and for limiting movement of the second robot only within the second area.
In this embodiment, the task transfer method is applied to a first robot, the first robot moves in a first area, the first robot receives a task instruction, then performs global path planning according to a travel destination in the task instruction to obtain a first path, the first robot moves along the first path, if the travel destination in the task instruction is not in the range of the first area, when the first robot moves to the boundary of the first area along the first path, the first robot transfers the task instruction to a second robot, the second robot moves in a second area, the first path passes through the second area, when the second robot receives the task instruction transferred by the first robot, performs global path planning according to the travel destination in the task instruction to obtain a second path, and the second robot moves along the second path to complete the transfer of the task instruction, so that the transfer of the task instruction between the robots is more efficient through the association between the robots.
In addition, referring to fig. 4, an embodiment of the present invention further proposes a task delivery device, where the task delivery device includes:
the mobile module 10 is configured to receive a task instruction, and perform global path planning according to a travel destination in the task instruction to obtain a first path, where the first robot moves along the first path;
a task transfer module 20 for transferring the task instruction to a second robot when the first robot moves to a boundary of the first area along the first path when the travel destination is not within the range of the first area; the first path passes through a second area, the second robot moves in the second area, and when the second robot receives the task instruction, global path planning is performed according to a travelling destination in the task instruction to obtain a second path, so that the second robot moves along the second path.
Optionally, the task delivery module 20 includes:
a first movement control unit configured to stop movement when the travel destination is not within the range of the first area and the first robot moves to a boundary of the first area along the first path;
a communication searching unit for searching for a schedulable second robot located in a second area and establishing a communication connection with the second robot;
and the task transmission unit is used for transmitting the task instruction to the second robot based on the communication connection.
Optionally, the task delivery device further includes:
the current position information sending module is used for sending the current position information of the first robot to the second robot based on the communication connection; and when the second robot receives the current position information, the second robot starts positioning navigation according to the current position information so as to approach the first robot.
Optionally, the current location information sending module includes:
a third path obtaining unit, configured to, when the second robot receives the current position information, perform global path planning according to the current position information of the first robot to obtain a third path, so that the second robot moves along the third path;
and a second movement control unit for stopping movement when the second robot moves to the boundary of the second area along the third path.
Optionally, the task delivery device further includes:
and the prompt broadcasting module is used for stopping the first robot from executing the task instruction and broadcasting a task transmission prompt to indicate that the second robot is executing the task instruction.
Optionally, the task delivery device further includes:
the robot configuration module is used for configuring a preset number of first robots according to the area size of the first area; and/or configuring a preset number of second robots according to the area size of the second area.
Optionally, the task delivery device further includes:
the signal tag is used for being arranged on the boundary of the first area, and when the first robot acquires the signal tag, the first robot is positioned on the boundary of the first area; and/or
And a signal tag is arranged on the boundary of the second area, and when the second robot acquires the signal tag, the second robot is positioned on the boundary of the second area.
In addition, the embodiment of the invention also provides a storage medium, and a task transfer program is stored on the storage medium, and when the task transfer program is executed by a processor, the operation in the task transfer method provided by the embodiment is realized.
The methods performed by the program modules may refer to various embodiments of the methods according to the present invention, and are not described herein.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity/operation/object from another entity/operation/object without necessarily requiring or implying any actual such relationship or order between such entities/operations/objects; the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The apparatus embodiments described above are merely illustrative, in which the units illustrated as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to achieve the objectives of the present invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile service robot or the like) to perform the task delivery method according to the various embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. The task transfer method is applied to a first robot, and the first robot moves in a first area, and is characterized in that:
receiving a task instruction, and performing global path planning according to a travelling destination in the task instruction to obtain a first path, wherein the first robot moves along the first path;
when the travel destination is not in the range of the first area, transmitting the task instruction to a second robot when the first robot moves to the boundary of the first area along the first path;
wherein when the travel destination is not within the range of the first area, and the first robot moves to the boundary of the first area along the first path, the task instruction is transferred to a second robot, and the task instruction comprises:
stopping moving when the travel destination is not within the range of the first area and the first robot moves to the boundary of the first area along the first path;
searching for a schedulable second robot located in a second area and establishing a communication connection with the second robot;
based on the communication connection, the first robot sends current position information of the first robot to the second robot; when the second robot receives the current position information, the second robot starts positioning navigation according to the current position information so as to approach the first robot;
transmitting the task instruction to the second robot based on the communication connection;
the first path passes through a second area, the second robot moves in the second area, when the second robot receives the task instruction, global path planning is performed according to a travelling destination in the task instruction to obtain a second path, and the second robot moves along the second path.
2. The task delivery method according to claim 1, wherein when the second robot receives the current position information, the second robot starts positioning navigation to approach the first robot according to the current position information, comprising:
when the second robot receives the current position information, the second robot performs global path planning according to the current position information of the first robot to obtain a third path so that the second robot moves along the third path;
and stopping moving when the second robot moves to the boundary of the second area along the third path.
3. The task transfer method according to claim 1, wherein after the task instruction is transferred to a second robot when the first robot moves to a boundary of the first area along the first path while the travel destination is not within the range of the first area, comprising:
and the first robot terminates executing the task instruction and broadcasts a task transfer prompt to indicate that the second robot is executing the task instruction.
4. The task delivery method according to claim 1, wherein a preset number of the first robots are configured according to an area size of the first area; and/or configuring a preset number of second robots according to the area size of the second area.
5. The task delivery method according to claim 1, wherein a signal tag is provided at a boundary of the first area, and when the first robot acquires the signal tag, the first robot is located at the boundary of the first area; and/or
And a signal tag is arranged on the boundary of the second area, and when the second robot acquires the signal tag, the second robot is positioned on the boundary of the second area.
6. A task delivery apparatus for use with a first robot that is active within a first area, the task delivery apparatus comprising:
the moving module is used for receiving a task instruction, and carrying out global path planning according to a travelling destination in the task instruction so as to obtain a first path, wherein the first robot moves along the first path;
a task transfer module for transferring the task instruction to a second robot when the first robot moves to a boundary of the first area along the first path when the travel destination is not within the range of the first area; the first path passes through a second area, the second robot moves in the second area, when the second robot receives the task instruction, global path planning is carried out according to a travelling destination in the task instruction so as to obtain a second path, and the second robot moves along the second path;
wherein the task transfer module is further configured to stop moving when the travel destination is not within the range of the first area and the first robot moves to a boundary of the first area along the first path; searching for a schedulable second robot located in a second area and establishing a communication connection with the second robot; transmitting the task instruction to the second robot based on the communication connection;
the task transfer module is further configured to, after the search for a schedulable second robot located in a second area and the communication connection is established with the second robot, send current location information of the first robot to the second robot based on the communication connection; and when the second robot receives the current position information, the second robot starts positioning navigation according to the current position information so as to approach the first robot.
7. A task delivery apparatus, characterized in that the task delivery apparatus comprises: a memory, a processor and a task delivery program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the task delivery method according to any one of claims 1 to 5.
8. A storage medium having stored thereon a task delivery program which, when executed by a processor, implements the steps of the task delivery method according to any one of claims 1 to 5.
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| CN114237251A (en) * | 2021-12-17 | 2022-03-25 | 北京云迹科技股份有限公司 | Relay leading method and device for target site, electronic equipment and storage medium |
| CN117874739B (en) * | 2024-03-13 | 2024-05-07 | 中国标准化研究院 | Information pushing method and system for intelligent manufacturing service |
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