CN114240157B - Robot scheduling method, system, equipment and storage medium - Google Patents
Robot scheduling method, system, equipment and storage medium Download PDFInfo
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- CN114240157B CN114240157B CN202111549301.6A CN202111549301A CN114240157B CN 114240157 B CN114240157 B CN 114240157B CN 202111549301 A CN202111549301 A CN 202111549301A CN 114240157 B CN114240157 B CN 114240157B
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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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 a task to be distributed, and a first capability set is extracted from the task to be distributed according to a preset standard capability library; the capability gateway receives function sets sent by a plurality of robots when the robots are accessed, converts the function sets into second capability sets according to the preset standard capability library, and sends the second capability sets 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 so as to control the target robot to execute the task to be distributed; according to the method and the device, complex scenes for simultaneously scheduling a plurality of robots are processed, so that matching results between tasks and the robots are more accurate, and accurate comprehensive scheduling of large-scale robot groups is facilitated.
Description
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 is generally aimed at one-to-one scheduling, namely, one robot is processed at the same time to be accessed and managed, one robot is scheduled and managed, and a plurality of robots cannot be scheduled at the same time. Or, the prior art can only carry out a simple matching scheduling mode, and in the scenes of a plurality of optional robots, intelligent matching cannot be carried out, and the most suitable robot for matching is selected to execute the 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 complex scenes of simultaneous scheduling of a plurality of robots. .
In order to achieve the above object, the present invention provides a robot scheduling method, comprising the steps of:
the method comprises the steps that a server obtains a task to be distributed, and a first capability set is extracted from the task to be distributed according to a preset standard capability library;
the capability gateway receives function sets sent by a plurality of robots when the robots are accessed, converts the function sets into second capability sets according to the preset standard capability library, and sends the second capability sets 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 includes 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 target robot comprises:
the server performs first round matching according to the first static capacity subset and the second static capacity subset to obtain at least one alternative robot;
and the server obtains the target robot from the candidate robots in a matching way according to the first dynamic capacity subset and the second dynamic capacity subset.
Optionally, the capability gateway receives function sets sent by each of the robots when the robots are accessed, and converts the function sets into second capability sets according to the preset standard capability library, including:
the capability gateway sends capability test requirements to the control gateway;
the control gateway controls all robots to perform capability test according to the capability test requirement;
the robot sends the test result to the control gateway;
the control gateway forwards the test result to the capability gateway;
the capability gateway converts the function which is tested to pass the test result into a second capability set.
Optionally, the server obtains a target robot matched with the task to be allocated according to the first capability set and the second capability set, and the method 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 a dynamic capability update request to all the alternative robots;
after receiving the dynamic capacity update 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 capacity subset to the capacity gateway;
the capability gateway sends the updated second dynamic capability subset to the server;
and the server obtains the target robot from the alternative robots in a matching way according to the first dynamic capacity subset and the updated second dynamic capacity subset.
Optionally, the first static capability subset and the second static capability subset each include a plurality of sets of value pairs, each set of value pairs including a capability name stored in pairs and a corresponding capability value;
the server performs a first round of matching and obtains at least one alternative robot according to the first static capacity subset and the second static capacity subset, and the method comprises the following steps:
the server matches the capability names in the first static capability subset with the capability names in the second static capability subset;
after the capability names match, 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 server obtains a target robot matched with the task to be allocated according to the first capability set and the second capability set, including:
the server calculates the matching degree of each robot and the tasks to be distributed according to the first capability set and the second capability set, and forms an alternative robot group based on N robots with the highest matching degree;
the server takes the robot with the highest matching degree in the alternative robot group as a target robot;
the method further comprises the steps of:
the target robot sends a task execution result to a 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 robot with the highest matching degree remaining in the alternative robot group so as to control the robot to execute the task to be allocated.
Optionally, the server obtains a target robot matched with the task to be allocated according to the first capability set and the second capability set, including:
the server calculates the matching degree of each robot and the tasks to be distributed according to the first capability set and the second capability set, and when the robot with the maximum matching degree is a plurality of robots, historical execution task 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 taken as a target robot.
Optionally, the server obtains a target robot matched with the task to be allocated according to the first capability set and the second capability set, including:
acquiring first position information corresponding to a task to be allocated from the first capability set, acquiring first task remaining time, first moving speed and second position information corresponding to the first robot from a second capability 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 capability set corresponding to the second robot;
acquiring a first moving time corresponding to a first robot based on the first position information, the first moving speed and the second position information;
acquiring a second moving time corresponding to a second robot based on the first position information, the second moving speed and the third position information;
and 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, in the matching process, the sorting priority of the first robot is higher than the sorting priority of the second robot.
The invention also provides a robot scheduling system for realizing the robot scheduling method, which comprises the following steps:
the server acquires a task to be allocated and extracts a first capability set from the task to be allocated according to a preset standard capability library;
the capability gateway receives function sets sent by a plurality of robots when the robots are accessed, converts the function sets into second capability sets according to the preset standard capability library, and sends the second capability sets to a server;
the task matching module is used for obtaining a target robot matched with the task to be distributed according to the first capability set and the second capability set by the server; 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 invention also provides a robot scheduling device, comprising:
a processor;
a memory in which an executable program of the processor is stored;
wherein the processor is configured to perform the steps of any one of the robot scheduling methods described above via execution of the executable program.
The present invention also provides a computer readable storage medium storing a program which, when executed by a processor, implements the steps of any one of the robot scheduling methods described above.
Compared with the prior art, the invention has the following advantages and outstanding effects:
according to the robot scheduling method, system, equipment and storage medium, the capacity sets corresponding to the tasks to be allocated and the capacity sets corresponding to the robots are respectively extracted according to the preset standard capacity library, and then the capacity sets are matched, so that the most suitable robot for executing the tasks is determined, and the accurate comprehensive scheduling of large-scale robot groups is facilitated.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following 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 a robot scheduling method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of step S130 in a robot scheduling method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a robot scheduling method according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a robot scheduling method according to another embodiment of the present invention;
FIG. 6 is a schematic 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 a 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 device 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 present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments may 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 the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus a repetitive description thereof 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 acquires tasks to be distributed, and extracts a first capability set from the tasks to be distributed according to a preset standard capability library. Specifically, cloud systems such as a server and the like decompose multi-mode task input into a capability requirement set, namely a first capability set, by means of technologies such as natural language processing, semantic recognition and the like and a preset standard capability library.
The standard capability library is preset as a standardized capability set. When the step is implemented, the capacity of the task to be allocated can be extracted first, and then standardized processing is carried out by means of a preset standard capacity library, so that a first capacity set is obtained. The first capability set can also be formed by directly extracting and obtaining standardized capability according to a preset standard capability library and combining the standardized capability. This step may be implemented using prior art techniques, and is not described in detail herein.
The preset standard capability library divides all capabilities into two sets of static and dynamic capabilities. Static capabilities may include capabilities such as voice capabilities, visual capabilities, mobility 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 set of capabilities comprises a first subset of static capabilities and a first subset of dynamic capabilities.
And S120, the capability gateway receives the function sets sent by the robots when the robots are accessed, converts the function sets into second capability sets according to the preset standard capability library, and sends the second capability sets to the server. In the step, after receiving the function set corresponding to the robot, the capability gateway performs a function test on all the function sets before converting the function set, and only after the test passes, the capability gateway converts the function 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:
s121, the capability gateway receives the function sets sent by the robots when the robots are accessed, 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 robots to perform capability test by the control gateway according to the capability test requirements.
S124, the robot sends the test result to the control gateway.
S125, the control gateway forwards the test result to the capability gateway.
And S126, the capability gateway converts the test result into a test passing function, converts the test result into standard capability according to a preset standard capability library, and combines the standard capability to form a second capability set.
Therefore, after the conversion, the second set of capabilities includes a second subset of static capabilities and a second subset of dynamic capabilities.
And S130, the server obtains the target robot matched with the task to be allocated according to the first capability set and the second capability set. It should be noted that, the specific capability matching implementation process is not limited in this application, and those skilled in the art may set the implementation process as required. For example, in the present embodiment, the step S130 includes:
s131, the server performs first round matching according to the first static capacity subset and the second static capacity subset, and at least one alternative robot is obtained.
And S132, the server obtains the target robot from the alternative robots according to the first dynamic capacity subset and the second dynamic capacity subset.
Specifically, in step S130 of this embodiment, two rounds of matching are required, and the second round of matching is to perform the screening again based on the result obtained by the first round of matching screening. Thus, the robot matching result can be more accurate. When the matching in step S131, 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, which may be used as an alternative robot. The implementation of step S132 may be based on similar principles.
In this embodiment, each of the first static capability subset and the second static capability subset includes a plurality of sets of value pairs, where each set of value pairs includes a capability name and a corresponding capability value stored in a pair. For example, the movement capability and the corresponding movement speed form a set of numerical pairs. The step S131 includes:
s1311, the server matches the capability names in the first subset of static capabilities with the capability names in the second subset of static capabilities. and
S1312, 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.
Specifically, that is, step S131 of the present embodiment matches not only the capability name but also the capability value when matching the static capability. For example, a task requires not only a robot to have a movement capability, but also a movement speed greater than a second preset threshold, and two matches of a static capability are required. Thus, the robot matching result can be more accurate.
And S140, the control gateway sends a control instruction to the target robot so as to control the target robot to execute the task to be allocated.
Specifically, an instruction set may be generated according to a first capability set corresponding to a task to be allocated, and the control gateway issues a control instruction to the target robot according to the instruction set. And the target robot executes the task to be allocated according to the control instruction and feeds back an execution result to the control gateway.
As shown in fig. 3, in another embodiment of the present application, another robot scheduling method is disclosed. The method, based on the above embodiment, further includes the step of, based on the step S131, step S130:
s133, after obtaining the candidate robot, the server sends the list of candidate robots to the control gateway.
S134, the control gateway sends a dynamic capability update request to all the alternative robots.
And S135, after the alternative robot receives the dynamic capacity update request, updating the second dynamic capacity subset, and sending the updated second dynamic capacity subset to a control gateway.
And S136, the control gateway sends the updated second dynamic capacity subset to the capacity gateway.
And S137, the capability gateway sends the updated second dynamic capability subset to the server.
And S138, the server obtains the target robot from the alternative robots according to the first dynamic capacity subset and the updated second dynamic capacity subset.
Therefore, the dynamic capacity can be kept up to date, so that the matching result between the dynamic capacity of the task and the dynamic capacity of the robot is more accurate, and the method is favorable for accurately and comprehensively scheduling large-scale robot groups.
As shown in fig. 4, in another embodiment of the present application, another robot scheduling method is disclosed. Based on the above embodiment, step S130 includes:
s1301, the server calculates the matching degree of each robot and the tasks to be allocated according to the first capability set and the second capability set, and forms an alternative robot group based on N robots with the highest matching degree.
S1302, the server takes a robot with the highest matching degree in the alternative 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 task execution results are success or failure. and
And S160, when the task execution result is failure, the control gateway sends a control instruction to the robot with the highest matching degree remaining in the alternative robot group so as to control the robot to execute the task to be allocated.
Specifically, in the matching process in step S1301, the first N robots are used as the candidate robot groups in the order of the matching degree from high to low, that is, from high to low. For example, the top 3 robots in the order form an alternative robot group.
In the subsequent steps, the first robot in the first order is firstly assigned to execute the task, and when the execution of the task of the robot fails, the second alternative robot in the second order is assigned to execute the task again. Similarly, when the robot of the second position fails to execute, the candidate robot of the third position of the matching degree sequence is allowed to execute the task again.
In another embodiment of the present application, another robot scheduling method is disclosed. Based on the above embodiment, the method in step S130 includes:
and S1303, the server calculates the matching degree of each robot and the tasks to be allocated according to the first capability set and the second capability set, and when the robot with the maximum matching degree is a plurality of robots, the server acquires the history execution task information of each robot.
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 taken as a target robot.
Specifically, in the matching process, the order is sorted according to the order of the matching degree from high to low, that is, from high to low, and when there are a plurality of robots having the maximum matching degree and the same value, for example, after the matching degree is sorted, the maximum matching degree is 0.8, and the matching degree is 0.8 for the plurality of robots having the maximum value, then the history execution task information of each of the plurality of robots having the value of 0.8 is acquired.
The matching process in step S1305 may be implemented by referring to the matching process of the first capability set and the second capability set, and in this embodiment, matching is performed according to the historical execution task information of the robot, so that it is beneficial to ensure that the matching result is more accurate, and thus, it is beneficial to accurately and comprehensively scheduling large-scale robot groups; and is beneficial to improving the success rate of task execution.
In another embodiment of the present application, another robot scheduling method is disclosed. Based on the above embodiment, the method in step S130 includes:
s1306, acquiring first position information corresponding to the task to be allocated from the first capability set, acquiring first task remaining time, first moving speed and second position information corresponding to the first robot from a second capability 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 capability set corresponding to the second robot.
S1307, based on the first position information, the first movement speed, and the second position information, acquiring a first movement time corresponding to the first robot.
S1308, based on the first position information, the second moving speed, and the third position information, a second moving time corresponding to the second robot is acquired. and
S1309, when the sum of the first movement time and the first task remaining time is smaller than the sum of the second movement time and the second task remaining time, in the matching sorting process, the sorting priority of the first robot is higher than the sorting priority of the second robot.
Specifically, in the matching process, the embodiment comprehensively considers the moving capability in the static capability and the real-time position information in the dynamic capability to perform comprehensive matching, so that the matching result is more accurate. For example, the second robot is in an idle state, the first robot is still executing the task, but the moving time of the second robot from the task position is still longer than the sum of the time consumed by the first robot to execute the rest task and the moving time of the first robot, then the first robot is preferentially assigned to execute the task, so that the matching is more accurate.
As shown in fig. 5, another embodiment of the present application discloses an execution process of a robot scheduling method. Wherein the capability pool and the capability adaptation module are located in a server, and the capability adaptation is an action performed by the server. The robot set is a set composed of a plurality of robots in the step S120. The robot sets send respective sets of functions into the capability gateway. The capability gateway performs capability access on the capability gateway by means of a preset standard capability library.
The present embodiment registers the second capability set formed by the function tested through step S126 of the above embodiment in the capability pool. In step S130, the server completes matching between the capabilities in the capability pool and the first capability set corresponding to the task to be allocated in the capability adaptation module. In step S110, the server decomposes the task to be allocated into a capability requirement set by means of a preset standard capability library, and sends the capability requirement set to the capability adaptation module. The rest of the steps of this embodiment may be implemented by referring to the same steps disclosed in the above embodiments, which are not repeated herein.
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, which is not limited in this application.
It should be noted that, all the embodiments disclosed in the present application may be freely combined, and the technical solution obtained after combination is also within the protection 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, the server 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 receives the function sets sent by the robots when the robots are connected, converts the function sets into second capability sets according to the preset standard capability library, and sends the second capability sets to the server.
The task matching module 53, the server obtains the target robot matched with the task to be allocated according to the first capability set and the second capability set. and
The task control execution module 54 controls the gateway to send a control instruction to the target robot to control the target robot to execute the task to be allocated.
It will be appreciated that the robotic dispatch system of the present invention also includes other existing functional modules that support the operation of the robotic dispatch system. The robotic scheduling system shown in fig. 6 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
The robot scheduling system in this embodiment is used to implement the method for scheduling robots, so for the specific implementation steps of the robot scheduling system, reference may be made to the description of the method for scheduling robots, which is not repeated here.
As shown in fig. 7, another embodiment of the present application discloses another robot scheduling system, which, on the basis of the embodiment corresponding to fig. 6, includes:
the robot function set receiving unit 521 receives the function sets sent by the robots when the robots are connected, and generates capability test requirements according to the function sets.
The capability gateway transmits the capability test requirement to the control gateway by the test requirement transmitting unit 522.
The capability test execution unit 523 controls the gateway to control all robots to perform capability tests according to the capability test requirements.
And a test result transmitting unit 524, wherein the robot transmits the test result to the control gateway.
And a test result forwarding unit 525, configured to forward the test result to the capability gateway by using the control gateway.
The test passing function conversion 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, which, based on the embodiment corresponding to fig. 6, the task matching module 53 includes:
and the round matching unit 531, the server performs the first round matching according to the first static capacity subset and the second static capacity subset, and obtains at least one alternative robot.
The candidate robot list transmission unit 533 transmits the list of candidate robots to the control gateway after obtaining the candidate robots.
The dynamic capability update request sending unit 534 controls the gateway to send the dynamic capability update request to all the alternative robots.
And a dynamic capability updating unit 535, configured to update the second subset of dynamic capabilities after receiving the dynamic capability update request, and send the updated second subset of dynamic capabilities to the control gateway.
The updated dynamic capability sending unit 536 sends the updated second subset of dynamic capabilities to the capability gateway.
The updated dynamic capabilities forwarding unit 537, the capability gateway sends the updated second subset of dynamic capabilities to the server.
And a matching unit 538 configured to obtain a target robot from the candidate robots according to the first dynamic capacity subset and the updated second dynamic capacity 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 steps of:
and an alternative robot group determining unit 5301, wherein the server calculates the matching degree of each robot and the task to be allocated according to the first capability set and the second capability set, and forms an alternative robot group based on N robots with highest matching degree. and
The target robot determining unit 5302 uses, as the target robot, a robot having the highest matching degree in the candidate robot group.
And a task execution result transmitting module 55, wherein the target robot transmits the task execution result to the control gateway. The task execution results are success or failure. and
And a task re-executing module 56, when the task execution result is failure, the control gateway sends a control instruction to the robot with the highest matching degree remaining in the candidate robot group so as to control the robot to execute the task to be allocated.
The embodiment of the invention also discloses a robot scheduling device 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 in the robot scheduling method described above via execution of the executable program. Fig. 10 is a schematic structural view of a robot scheduling apparatus of the present disclosure. 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 merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 10, the electronic device 600 is in the form of a general purpose computing device. Components of 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 memory unit 620 and processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code that 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 described in the above-described robot scheduling method section of the present specification. For example, the 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 storage units, such as Random Access Memory (RAM) 6201 and/or cache memory unit 6202, and may further include Read Only Memory (ROM) 6203.
The storage 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 or some combination of which may include an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and/or any device (e.g., router, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 650. Also, electronic device 600 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 over the bus 630. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 600, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.
The invention also discloses a computer readable storage medium for storing a program which when executed implements the steps in the robot scheduling method described above. In some possible embodiments, the aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the above description of the robot scheduling method, when the program product is run on the terminal device.
As described 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 performs the tasks most appropriately is determined, and the precise and comprehensive scheduling of the large-scale robot population is facilitated.
Fig. 11 is a schematic structural view of a computer-readable storage medium of the present invention. Referring to fig. 11, a program product 800 for implementing the above-described 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 thereto, and in this 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. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium 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 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, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, 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., connected via the Internet using an Internet service provider).
According to the robot scheduling method, system, equipment and storage medium provided by the embodiment of the invention, the capacity sets corresponding to the tasks to be allocated and the capacity sets corresponding to the robots are respectively extracted according to the preset standard capacity library, and then the capacity sets are matched, so that the most suitable robot for executing the tasks is determined, and the accurate comprehensive scheduling of large-scale robot groups is facilitated.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (10)
1. The robot scheduling method is characterized by comprising the following steps of:
the method comprises the steps that a server obtains a task to be distributed, and a first capability set is extracted from the task to be distributed according to a preset standard capability library;
the capability gateway receives function sets sent by a plurality of robots when the robots are accessed, converts the function sets into second capability sets according to the preset standard capability library, and sends the second capability sets to a server; after receiving the function set corresponding to the robot, the capability gateway performs a function test on all the function sets before converting the function sets, and only after the test passes, the capability gateway converts the function into standard capability so as to form a second capability set;
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 control gateway sends a control instruction to the target robot so as to control the target robot to execute the task to be distributed;
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 target robot comprises:
acquiring first position information corresponding to a task to be allocated from the first capability set, acquiring first task remaining time, first moving speed and second position information corresponding to the first robot from a second capability 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 capability set corresponding to the second robot;
acquiring a first moving time corresponding to a first robot based on the first position information, the first moving speed and the second position information;
acquiring a second moving time corresponding to a second robot based on the first position information, the second moving speed and the third position information;
and 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, in the matching process, the sorting priority of the first robot is higher than the sorting priority of the second robot.
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 target robot comprises:
the server performs first round matching according to the first static capacity subset and the second static capacity subset to obtain at least one alternative robot;
and the server obtains the target robot from the candidate robots in a matching way according to the first dynamic capacity subset and the second dynamic capacity subset.
3. The robot scheduling method of claim 1, wherein the capability gateway receives the function sets transmitted by each of the plurality of robots when accessing, and converts the function sets into the second capability set according to the preset standard capability library, comprising:
the capability gateway sends capability test requirements to the control gateway;
the control gateway controls all robots to perform capability test according to the capability test requirement;
the robot sends the test result to the control gateway;
the control gateway forwards the test result to the capability gateway;
the capability gateway converts the function which is tested to pass the test result into a second capability set.
4. The robot scheduling method of claim 2, wherein the server obtains a target robot matched with the task to be allocated according to the first capability set and the second capability set, and further comprising:
after the alternative robots are obtained, the server sends a list of the alternative robots to the control gateway;
the control gateway sends a dynamic capability update request to all the alternative robots;
after receiving the dynamic capacity update 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 capacity subset to the capacity gateway;
the capability gateway sends the updated second dynamic capability subset to the server;
and the server obtains the target robot from the alternative robots in a matching way according to the first dynamic capacity subset and the updated second dynamic capacity subset.
5. The robot scheduling method of claim 2, wherein the first subset of static capabilities and the second subset of static capabilities each comprise a plurality of sets of numerical pairs, each set of numerical pairs comprising a pair-wise stored capability name and a corresponding capability value;
the server performs a first round of matching and obtains at least one alternative robot according to the first static capacity subset and the second static capacity subset, and the method comprises the following steps:
the server matches the capability names in the first static capability subset with the capability names in the second static capability subset;
after the capability names match, the server matches the capability values in the first subset of static capabilities with the capability values in the second subset of static capabilities.
6. The robot scheduling method of claim 1, wherein the server obtains a target robot matched with the task to be allocated according to the first capability set and the second capability set, comprising:
the server calculates the matching degree of each robot and the tasks to be distributed according to the first capability set and the second capability set, and forms an alternative robot group based on N robots with the highest matching degree;
the server takes the robot with the highest matching degree in the alternative robot group as a target robot;
the method further comprises the steps of:
the target robot sends a task execution result to a 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 robot with the highest matching degree remaining in the alternative robot group so as to control the robot to execute the task to be allocated.
7. The robot scheduling method of claim 1, wherein the server obtains a target robot matched with the task to be allocated according to the first capability set and the second capability set, comprising:
the server calculates the matching degree of each robot and the tasks to be distributed according to the first capability set and the second capability set, and when the robot with the maximum matching degree is a plurality of robots, historical execution task 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 taken as a target robot.
8. A robot scheduling system for implementing the robot scheduling method of claim 1, the system comprising:
the server acquires a task to be allocated and extracts a first capability set from the task to be allocated according to a preset standard capability library;
the capability gateway receives function sets sent by a plurality of robots when the robots are accessed, converts the function sets into second capability sets according to the preset standard capability library, and sends the second capability sets to a server;
the task matching module is used for obtaining a target robot matched with the task to be distributed according to the first capability set and the second capability set by the server; 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.
9. A robotic scheduling device, comprising:
a processor;
a memory in which an executable program of the processor is stored;
wherein the processor is configured to perform the steps of the robot scheduling method of any of claims 1 to 7 via execution of the executable program.
10. A computer readable storage medium storing a program, characterized in that the program when executed by a processor implements the steps of the robot scheduling method of any one of claims 1 to 7.
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