CN114240157A

CN114240157A - Robot scheduling method, system, device and storage medium

Info

Publication number: CN114240157A
Application number: CN202111549301.6A
Authority: CN
Inventors: 李伟; 杨明川
Original assignee: China Telecom Corp Ltd
Current assignee: China Telecom Corp Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-03-25
Anticipated expiration: 2041-12-17
Also published as: CN114240157B

Abstract

The invention provides a robot scheduling method, a system, equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps that a server obtains tasks to be distributed, and extracts a first capacity set from the tasks to be distributed according to a preset standard capacity library; the method comprises the steps that a capability gateway receives function sets sent by multiple robots when the robots are accessed, converts the function sets into a second capability set according to a preset standard capability library, and sends the second capability set to a server; the server obtains a target robot matched with the task to be distributed according to the first capability set and the second capability set; the control gateway sends a control instruction to the target robot to control the target robot to execute the task to be distributed; the method and the system for processing the complex scene of simultaneous scheduling of the multiple robots are achieved, so that matching results between tasks and the robots are more accurate, and accurate comprehensive scheduling of large-scale robot groups is facilitated.

Description

Robot scheduling method, system, device and storage medium

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a robot scheduling method, a system, equipment and a storage medium.

Background

The existing robot scheduling method generally aims at one-to-one scheduling, namely, the access management of one robot is processed at the same time, and one robot is scheduled and managed, so that a plurality of robots cannot be scheduled at the same time. Or, in the prior art, only a simple matching scheduling mode can be performed, intelligent matching cannot be performed in a plurality of selectable robot scenes, and the robot with the most suitable matching is selected to execute a task.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a robot scheduling method, a system, equipment and a storage medium, which solve the problem that the existing robot scheduling method cannot process the complex scene of simultaneous scheduling of a plurality of robots. .

In order to achieve the above object, the present invention provides a robot scheduling method, including the steps of:

the method comprises the steps that a server obtains tasks to be distributed, and extracts a first capacity set from the tasks to be distributed according to a preset standard capacity library;

the method comprises the steps that a capability gateway receives function sets sent by multiple robots when the robots are accessed, converts the function sets into a second capability set according to a preset standard capability library, and sends the second capability set to a server;

the server obtains a target robot matched with the task to be distributed according to the first capability set and the second capability set; and

and the control gateway sends a control instruction to the target robot so as to control the target robot to execute the task to be distributed.

Optionally, the first capability set comprises a first static capability subset and a first dynamic capability subset; the second set of capabilities includes a second subset of static capabilities and a second subset of dynamic capabilities; the server obtains a target robot matched with the task to be distributed according to the first capability set and the second capability set, and the method comprises the following steps:

the server performs a first round of matching according to the first static capability subset and the second static capability subset to obtain at least one alternative robot;

and the server matches the candidate robots to obtain target robots according to the first dynamic capacity subsets and the second dynamic capacity subsets.

Optionally, the capability gateway receives function sets sent by multiple robots during access, and converts the function sets into a second capability set according to the preset standard capability library, where the method includes:

the capability gateway sends the capability test requirement to the control gateway;

the control gateway controls all the robots to carry out capability test according to the capability test requirements;

the robot sends the test result to the control gateway;

the control gateway transmits the test result to the capability gateway;

and the capability gateway converts the test result into a second capability set for the function passing the test.

Optionally, the server obtains a target robot matched with the task to be distributed according to the first capability set and the second capability set, and further includes:

after the alternative robots are obtained, the server sends a list of the alternative robots to the control gateway;

the control gateway sends dynamic capability updating requests to all the alternative robots;

after receiving a dynamic capacity updating request, the alternative robot updates the second dynamic capacity subset and sends the updated second dynamic capacity subset to a control gateway;

the control gateway sends the updated second dynamic capability subset to a capability gateway;

the capability gateway sends the updated second dynamic capability subset to the server;

and the server matches the candidate robots to obtain a target robot according to the first dynamic capability subset and the updated second dynamic capability subset.

Optionally, the first and second subsets of static capabilities each include multiple sets of value pairs, each set of value pairs including a capability name and a corresponding capability value stored in pairs;

the server performs a first round of matching according to the first static capability subset and the second static capability subset to obtain at least one candidate robot, and the method includes:

the server matches the capacity name in the first static capacity subset with the capacity name in the second static capacity subset;

after the capability names are matched, the server matches the capability values in the first subset of static capabilities with the capability values in the second subset of static capabilities.

Optionally, the obtaining, by the server, a target robot matched with the task to be distributed according to the first capability set and the second capability set includes:

the server calculates the matching degree of each robot and the task to be distributed according to the first capacity set and the second capacity set, and an alternative robot group is formed on the basis of the N robots with the highest matching degree;

the server takes the robot with the highest matching degree in the candidate robot group as a target robot;

the method further comprises the following steps:

the target robot sends a task execution result to the control gateway; the task execution result is success or failure;

and when the task execution result is failure, the control gateway sends a control instruction to the remaining robots with the highest matching degree in the alternative robot group so as to control the robots to execute the tasks to be distributed.

the server calculates the matching degree of each robot and the tasks to be distributed according to the first capacity set and the second capacity set, and when the robot with the maximum matching degree is a plurality of robots, historical task execution information of each robot is obtained;

the server converts the historical execution task information into a third capability set according to the preset standard capability library;

and the server matches the third capability set with the second capability set to obtain a third capability set with the highest matching degree with the second capability set, and the robot corresponding to the third capability set is used as a target robot.

acquiring first position information corresponding to a task to be distributed from the first capacity set, acquiring first task remaining time, first moving speed and second position information corresponding to the first robot from a second capacity set corresponding to the first robot, and acquiring second task remaining time, second moving speed and third position information corresponding to the second robot from a second capacity set corresponding to the second robot;

acquiring first moving time corresponding to the first robot based on the first position information, the first moving speed and the second position information;

acquiring second moving time corresponding to a second robot based on the first position information, the second moving speed and the third position information;

when the sum of the first moving time and the first task remaining time is smaller than the sum of the second moving time and the second task remaining time, the sorting priority of the first robot is higher than that of the second robot in the matching process.

The invention also provides a robot scheduling system, which is used for realizing the robot scheduling method and comprises the following steps:

the server acquires tasks to be distributed and extracts a first capacity set from the tasks to be distributed according to a preset standard capacity library;

the second capability set extraction module is used for receiving function sets respectively sent by a plurality of robots when the robots are accessed, converting the function sets into second capability sets according to the preset standard capability library and sending the second capability sets to the server;

the task matching module is used for obtaining a target robot matched with the task to be distributed by the server according to the first capability set and the second capability set; and

and the task control execution module is used for controlling the gateway to send a control instruction to the target robot so as to control the target robot to execute the task to be distributed.

The present invention also provides a robot scheduling apparatus, comprising:

a processor;

a memory having stored therein an executable program of the processor;

wherein the processor is configured to perform the steps of any of the robot scheduling methods described above via execution of the executable program.

The invention also provides a computer readable storage medium for storing a program which, when executed by a processor, performs the steps of any of the robot scheduling methods described above.

Compared with the prior art, the invention has the following advantages and prominent effects:

according to the robot scheduling method, the system, the equipment and the storage medium, the capability sets corresponding to the tasks to be distributed and the capability sets corresponding to the robots are respectively extracted according to the preset standard capability library, and then the capability sets are matched, so that the robot which is most suitable for executing the tasks is determined, and the robot scheduling method, the system, the equipment and the storage medium are favorable for realizing accurate comprehensive scheduling of large-scale robot groups.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a robot scheduling method according to an embodiment of the present invention;

fig. 2 is a schematic diagram of step S120 in the robot scheduling method according to an embodiment of the disclosure;

fig. 3 is a schematic diagram of step S130 in the robot scheduling method according to an embodiment of the disclosure;

FIG. 4 is a schematic diagram of a robot scheduling method according to another embodiment of the present disclosure;

FIG. 5 is a diagram illustrating an implementation process of a robot scheduling method according to another embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a robot scheduling system according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a second capability set extraction module in the robot scheduling system according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a task matching module in the robot scheduling system according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a robot scheduling system according to another embodiment of the present invention;

fig. 10 is a schematic structural diagram of a robot scheduling apparatus according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.

As shown in fig. 1, an embodiment of the present invention discloses a robot scheduling method, which includes the following steps:

s110, the server obtains the tasks to be distributed, and extracts a first capacity set from the tasks to be distributed according to a preset standard capacity library. Specifically, the cloud system such as the server decomposes the multi-modal task input into a capability requirement set, namely a first capability set, by means of a preset standard capability library through technologies such as natural language processing and semantic recognition.

The preset standard capability library is a standardized capability set. When the step is implemented, the capability of the task to be allocated can be extracted, and then standardized processing is carried out by means of a preset standard capability library to obtain a first capability set. Or the standardized capacity can be extracted directly according to a preset standard capacity library and combined to form a first capacity set. This step can be implemented by using the prior art, and is not described in detail in this application.

The preset standard capability library divides all the capabilities into two sets of static capabilities and dynamic capabilities. Static capabilities may include capabilities such as voice capabilities, visual capabilities, movement capabilities, gripping capabilities, and the like. Dynamic capabilities may include capabilities such as real-time location, real-time power, etc. Therefore, after extraction, the first capability set includes a first static capability subset and a first dynamic capability subset.

And S120, the capability gateway receives the function sets respectively sent by the plurality of robots when the robots are accessed, converts the function sets into a second capability set according to the preset standard capability library, and sends the second capability set to the server. In this step, after receiving the function set corresponding to the robot and before converting the function set, the capability gateway performs function testing on all the function sets, and only after the testing is passed, the function is converted into standard capability, thereby forming a second capability set.

As shown in fig. 2, in an embodiment of the present application, step S120 may include:

and S121, the capability gateway receives the function sets sent by the multiple robots during access, and generates capability test requirements according to the function sets.

And S122, the capability gateway sends the capability test requirement to the control gateway.

And S123, controlling all the robots to perform the capability test by the control gateway according to the capability test requirements.

And S124, the robot sends the test result to the control gateway.

And S125, the control gateway forwards the test result to the capability gateway.

And S126, the capability gateway converts the test result into a function passing the test according to the preset standard capability library into standard capability, and combines the standard capability to form a second capability set.

Therefore, after the conversion, the second capability set includes a second static capability subset and a second dynamic capability subset.

And S130, the server obtains the target robot matched with the task to be distributed according to the first capability set and the second capability set. It should be noted that, the present application does not limit the specific implementation process of capability matching, and those skilled in the art can set the implementation process as needed. For example, in this embodiment, the step S130 includes:

s131, the server performs a first round of matching according to the first static capability subset and the second static capability subset to obtain at least one candidate robot.

And S132, the server matches the candidate robots to obtain target robots according to the first dynamic capability subsets and the second dynamic capability subsets.

Specifically, in step S130 of this embodiment, two rounds of matching are required, and the second round of matching is to perform screening again based on the results obtained by the first round of matching screening. This can make the robot matching result more accurate. When the step S131 is matched, the candidate robot may be determined as a candidate robot when the number of static capabilities in the first static capability subset included in the second static capability subset corresponding to each robot is greater than the first preset threshold. The implementation of step S132 may be based on similar principles.

In this embodiment, the first static capability subset and the second static capability subset each include a plurality of sets of value pairs, and each set of value pairs includes a capability name and a corresponding capability value stored in a pair. For example, the movement capabilities and corresponding movement speeds form a set of value pairs. The step S131 includes:

s1311, the server matches the capability name in the first static capability subset with the capability name in the second static capability subset. And

s1312, after the capability names are matched, the server matches the capability values in the first static capability subset with the capability values in the second static capability subset.

Specifically, in step S131 of this embodiment, when the static capabilities are matched, not only the capability names but also the capability values are matched. For example, a task requires that the robot not only have a moving capability, but also have a moving speed greater than a second preset threshold, and then two times of matching of a certain static capability are required. This can make the robot matching result more accurate.

And S140, the control gateway sends a control command to the target robot to control the target robot to execute the task to be distributed.

Specifically, an instruction set may be generated for a first capability set corresponding to a task to be assigned, and the control gateway issues a control instruction to the target robot according to the instruction set. And the target robot executes the tasks to be distributed according to the control instruction and feeds back an execution result to the control gateway.

In another embodiment of the present application, as shown in fig. 3, another robot scheduling method is disclosed. On the basis of the above embodiment, the step S130 further includes, on the basis of including the step S131, the steps of:

and S133, after the alternative robots are obtained, the server sends the list of the alternative robots to the control gateway.

And S134, the control gateway sends dynamic capability updating requests to all the alternative robots.

And S135, after receiving the dynamic capacity updating request, the alternative robot updates the second dynamic capacity subset and sends the updated second dynamic capacity subset to the control gateway.

And S136, the control gateway sends the updated second dynamic capability subset to the capability gateway.

And S137, the capability gateway sends the updated second dynamic capability subset to the server.

And S138, the server matches the candidate robots to obtain target robots according to the first dynamic capability subsets and the updated second dynamic capability subsets.

Therefore, the dynamic capacity can be kept up to date, the matching result between the dynamic capacity of the task and the dynamic capacity of the robot is more accurate, and accurate comprehensive scheduling of large-scale robot groups is facilitated.

In another embodiment of the present application, as shown in fig. 4, another robot scheduling method is disclosed. On the basis of the above embodiment, step S130 includes:

and S1301, the server calculates the matching degree of each robot and the task to be distributed according to the first capacity set and the second capacity set, and a candidate robot group is formed based on the N robots with the highest matching degree.

And S1302, the server takes the robot with the highest matching degree in the candidate robot group as a target robot.

The robot scheduling method provided by the embodiment further comprises the following steps:

and S150, the target robot sends a task execution result to the control gateway. The execution result of the task is success or failure. And

and S160, when the task execution result is failure, the control gateway sends a control command to the remaining robots with the highest matching degree in the alternative robot group so as to control the robots to execute the tasks to be distributed.

Specifically, in the matching process in step S1301, sorting is performed according to the order of the matching degrees from high to low, that is, the order from large to small, and N robots before sorting are used as the candidate robot group. For example, the top 3 robots in the sequence form an alternative robot group.

In the subsequent steps, the first robot in the sequence is assigned to execute the task, and when the robot task fails to execute, the second alternative robot in the sequence is assigned to execute the task again. And by analogy, when the robot at the second position fails to execute the task, the alternative robot with the third position ranked by the matching degree is enabled to execute the task again.

In another embodiment of the present application, another robot scheduling method is disclosed. On the basis of the above embodiment, the step S130 includes:

and S1303, the server calculates the matching degree of each robot and the task to be distributed according to the first capability set and the second capability set, and acquires historical task execution information of each robot when the robot with the maximum matching degree is a plurality of robots.

And S1304, the server converts the historical execution task information into a third capability set according to the preset standard capability library.

And S1305, the server matches the third capability set with the second capability set to obtain a third capability set with the highest matching degree with the second capability set, and the robot corresponding to the third capability set is used as a target robot.

Specifically, in the matching process, the robots are sorted in the order from high to low, that is, in the order from large to small, and when there are a plurality of robots having the maximum matching degree and having the same value, for example, after the matching degree is sorted, the maximum matching degree is 0.8, and there are a plurality of robots having the maximum matching degree of 0.8, the history execution task information of each of the plurality of robots having the value of 0.8 is obtained.

The matching process in step S1305 can be implemented by referring to the matching process of the first capability set and the second capability set, and the matching is performed according to the historical task execution information of the robot in this embodiment, so that it is beneficial to ensure that the matching result is more accurate, and thus, the accurate comprehensive scheduling of large-scale robot groups is facilitated; and the success rate of task execution is improved.

s1306, obtain first location information corresponding to the task to be allocated from the first capability set, obtain first remaining time of the task, first moving speed, and second location information corresponding to the first robot from a second capability set corresponding to the first robot, and obtain second remaining time of the task, second moving speed, and third location information corresponding to the second robot from a second capability set corresponding to the second robot.

S1307, a first moving time corresponding to the first robot is obtained based on the first position information, the first moving speed, and the second position information.

S1308, a second moving time corresponding to the second robot is obtained based on the first position information, the second moving speed, and the third position information. And

s1309, when the sum of the first moving time and the first task remaining time is less than the sum of the second moving time and the second task remaining time, the sorting priority of the first robot is higher than the sorting priority of the second robot in the matching sorting process.

Specifically, in the matching process, the moving capability in the static capability and the real-time position information in the dynamic capability are comprehensively considered for comprehensive matching, so that the matching result is ensured to be more accurate. For example, if the second robot is in an idle state and the first robot is still performing a task, but the moving time of the second robot from the task position is still greater than the sum of the time consumed by the first robot to perform the remaining task and the moving time of the first robot, the first robot is preferentially assigned to perform the task, so that the matching is more accurate.

As shown in fig. 5, another embodiment of the present application discloses a robot scheduling method. Wherein the capability pool and the capability adaptation module are located in the server, and the capability adaptation is an action performed by the server. The robot set is a set of the plurality of robots in step S120. The robot sets send respective sets of functions into the capability gateway. And the capability gateway accesses the capability by means of a preset standard capability library.

The present embodiment registers the function that passes the test in step S126 of the above embodiments, and forms the second capability set into the capability pool. In step S130, the server matches the capacity in the capacity pool with the first capacity set corresponding to the task to be allocated in the capacity adaptation module. In step S110, the server decomposes the task to be allocated into a capability requirement set by using a preset standard capability library, and sends the capability requirement set to the capability adaptation module. The remaining steps of this embodiment can be implemented by referring to the same steps disclosed in the above embodiments, and are not described in detail in this application.

It should be noted that the capability gateway and the control gateway disclosed in the present application may be independent gateway devices, or may be gateway devices provided in a server, and the present application is not limited thereto.

It should be noted that all the above embodiments disclosed in the present application can be freely combined, and the technical solutions obtained by combining them are also within the scope of the present application.

As shown in fig. 6, an embodiment of the present invention further discloses a robot scheduling system 5, which includes:

the first capability set extracting module 51 obtains the task to be allocated, and extracts the first capability set from the task to be allocated according to the preset standard capability library.

The second capability set extracting module 52, the capability gateway receives the function sets respectively sent by the multiple robots when accessing, converts the function sets into a second capability set according to the preset standard capability library, and sends the second capability set to the server.

And a task matching module 53, wherein the server obtains the target robot matched with the task to be distributed according to the first capability set and the second capability set. And

and a task control execution module 54, configured to control the gateway to send a control command to the target robot, so as to control the target robot to execute the task to be assigned.

It is understood that the robot scheduling system of the present invention further includes other existing functional modules that support the operation of the robot scheduling system. The robot scheduling system shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

The robot scheduling system in this embodiment is used to implement the robot scheduling method, so for the specific implementation steps of the robot scheduling system, reference may be made to the description of the robot scheduling method, and details are not described here again.

As shown in fig. 7, another embodiment of the present application discloses another robot scheduling system, which is based on the above-mentioned embodiment corresponding to fig. 6, and the second capability set extracting module 52 includes:

the robot function set receiving unit 521 is configured to receive function sets sent by multiple robots when the robots access, and generate a capability test requirement according to the function sets.

The test requirement sending unit 522 sends the capability test requirement to the control gateway.

The capability test execution unit 523 controls the gateway to control all the robots to perform the capability test according to the capability test requirement.

And a test result sending unit 524, which sends the test result to the control gateway.

And a test result forwarding unit 525, which forwards the test result to the capability gateway.

The test passing function converting unit 526 converts the test result into a test passing function according to a preset standard capability library, and combines the standard capabilities to form a second capability set.

As shown in fig. 8, another embodiment of the present application discloses another robot scheduling system, in which on the basis of the above-mentioned embodiment corresponding to fig. 6, the task matching module 53 includes:

and a round matching unit 531, where the server performs a first round of matching according to the first static capability subset and the second static capability subset to obtain at least one candidate robot.

After obtaining the candidate robots, the candidate robot list sending unit 533 sends the list of candidate robots to the control gateway.

The dynamic capability update request transmission unit 534 controls the gateway to transmit the dynamic capability update request to all the candidate robots.

The dynamic capability updating unit 535, after receiving the dynamic capability updating request, the candidate robot updates the second dynamic capability subset, and sends the updated second dynamic capability subset to the control gateway.

And an updated dynamic capability sending unit 536, which sends the updated second dynamic capability subset to the capability gateway.

And an updated dynamic capability forwarding unit 537, which sends the updated second dynamic capability subset to the server by the capability gateway.

And a matching unit 538 for matching the target robot from the candidate robots by the server according to the first dynamic capability subset and the updated second dynamic capability subset.

As shown in fig. 9, another embodiment of the present application provides another robot scheduling system 8, which further includes, on the basis of the embodiment corresponding to fig. 6, that is, on the basis of the first capability set extracting module 51, the second capability set extracting module 52 and the task control executing module 54:

the candidate robot group determining unit 5301 calculates, by the server, a matching degree between each robot and the task to be allocated according to the first capability set and the second capability set, and forms a candidate robot group based on the N robots with the highest matching degree. And

the target robot determination unit 5302 determines, as the target robot, the robot having the highest matching degree among the candidate robot groups.

And a task execution result sending module 55, where the target robot sends a task execution result to the control gateway. The execution result of the task is success or failure. And

and a task re-execution module 56, configured to, when the task execution result is a failure, send a control instruction to the remaining robot with the highest matching degree in the candidate robot group by the control gateway, so as to control the robot to execute the task to be allocated.

The embodiment of the invention also discloses robot scheduling equipment, which comprises a processor and a memory, wherein the memory stores an executable program of the processor; the processor is configured to perform the steps of the robot scheduling method described above via execution of the executable program. Fig. 10 is a schematic structural diagram of a robot scheduling apparatus disclosed in the present invention. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 10. The electronic device 600 shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 10, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.

Wherein the storage unit stores program code which can be executed by the processing unit 610 such that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention as described in the robot scheduling method section above in this description. For example, processing unit 610 may perform the steps as shown in fig. 1.

The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.

The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 630 may be one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.

The invention also discloses a computer readable storage medium for storing a program, which when executed implements the steps in the robot scheduling method. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the invention described in the above-mentioned robot scheduling method of this specification, when the program product is run on the terminal device.

As shown above, when the program of the computer-readable storage medium of this embodiment is executed, the capability sets corresponding to the tasks to be allocated and the capability sets corresponding to the robots are respectively extracted according to the preset standard capability library, and then the capability sets are matched, so that the robot that is most suitable for executing the tasks is determined, and the realization of accurate comprehensive scheduling of large-scale robot groups is facilitated.

Fig. 11 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 11, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

According to the robot scheduling method, the system, the equipment and the storage medium provided by the embodiment of the invention, the capability sets corresponding to the tasks to be distributed and the capability sets corresponding to the robots are respectively extracted according to the preset standard capability library, and then the capability sets are matched, so that the robot which is most suitable for executing the tasks is determined, and the robot scheduling method, the system, the equipment and the storage medium are favorable for realizing accurate comprehensive scheduling of large-scale robot groups.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims

1. A robot scheduling method, comprising the steps of:

2. The robot scheduling method of claim 1, wherein the first set of capabilities comprises a first subset of static capabilities and a first subset of dynamic capabilities; the second set of capabilities includes a second subset of static capabilities and a second subset of dynamic capabilities; the server obtains a target robot matched with the task to be distributed according to the first capability set and the second capability set, and the method comprises the following steps:

3. The robot scheduling method of claim 1, wherein the capability gateway receives a function set transmitted by each of the plurality of robots during access, and converts the function set into a second capability set according to the preset standard capability library, and the method comprises:

the robot sends the test result to the control gateway;

the control gateway transmits the test result to the capability gateway;

4. The robot scheduling method according to claim 2, wherein the server obtains a target robot matching the task to be assigned based on the first capability set and the second capability set, further comprising:

5. The robot scheduling method of claim 2, wherein the first and second subsets of static capabilities each comprise a plurality of sets of value pairs, each set of value pairs comprising a capability name and a corresponding capability value stored in pairs;

6. The robot scheduling method according to claim 1, wherein the server obtains a target robot matching the task to be assigned based on the first capability set and the second capability set, comprising:

the method further comprises the following steps:

7. The robot scheduling method according to claim 1, wherein the server obtains a target robot matching the task to be assigned based on the first capability set and the second capability set, comprising:

8. The robot scheduling method according to claim 1, wherein the server obtains a target robot matching the task to be assigned based on the first capability set and the second capability set, comprising:

9. A robot scheduling system for implementing the robot scheduling method according to claim 1, the system comprising:

10. A robot scheduling apparatus, comprising:

a processor;

a memory having stored therein an executable program of the processor;

wherein the processor is configured to perform the steps of the robot scheduling method of any one of claims 1 to 8 via execution of the executable program.

11. A computer-readable storage medium storing a program, wherein the program, when executed by a processor, performs the steps of the robot scheduling method of any one of claims 1 to 8.