CN114282749A - Robot scheduling method, device, system, electronic equipment and storage medium - Google Patents

Abstract

The application relates to the technical field of robot control, and discloses a robot scheduling method, a device, a system, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a target elevator of the robot according to the elevator taking task of the robot; detecting the occupation state of each elevator waiting point of the target elevator to obtain the idle elevator waiting points of the target elevator; detecting whether the idle elevator waiting points meet the elevator waiting requirements of the robot or not; and under the condition that the idle elevator waiting points meet elevator waiting requirements, the robot is instructed to go to the idle elevator waiting points of the target elevator. The occupation condition of the elevator waiting points is fully considered in the process of dispatching the robot for elevator waiting, so that the problem of traffic jam caused by the fact that the robot goes to the elevator waiting points under the condition that the elevator waiting points are insufficient is avoided, the failure of the robot taking the elevator task due to traffic jam is further avoided, and the safety and the robustness of the robot taking the elevator waiting and follow-up taking are ensured.

Description

Robot scheduling method, device, system, electronic equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of robot control, in particular to a robot scheduling method, device and system, electronic equipment and a storage medium.

Background

With the continuous development and progress of science and technology, the robot technology also tends to mature day by day, and the robot is applied to different scenes of life to undertake different tasks, which has become the mainstream development trend. The mobile navigation function has been given more and more application scenarios as a core function of the service robot. On one hand, the problem that the robot automatically calls the elevator and automatically takes the elevator out of the elevator is solved along with the elevator control system, and the mobile robot expands the vertical movement capacity on the basis of the original plane movement function by means of the elevator control system. On the other hand, in many commercial fields, a single robot often cannot meet the requirements, and the requirements of a multi-robot working scene are more and more. For example, in a hotel, a plurality of food delivery robots are required to deliver food to different guests on the same floor or different floors at the same time; it is also possible that different types of robots work simultaneously, such as supporting cleaning robot cleaning across floors and food delivery robot delivering food across floors simultaneously in a hotel scenario.

The combination of the requirements of a multi-robot working scene and a cross-floor working scene brings the problem of robot traffic management. When a plurality of robots perform tasks simultaneously, a situation that the plurality of robots all request to use limited shared resources (only one or two elevators are generally opened for the robots to use in a customer scene) such as elevators is inevitable. How to solve the problem that multiple robots compete for shared resources such as elevators, elevator room waiting points and the like, and realizing efficient elevator riding scheduling of the robots are the problems which need to be solved urgently in robot application.

In order to solve the problem of robot scheduling, a plurality of robots are generally allowed to sequentially go to an elevator waiting room and take an elevator according to a priority order when the robots are scheduled, but although the robots are scheduled in sequence, the plurality of robots are still prone to have elevator waiting conflict and elevator taking competition problems during task execution, and therefore the robots are blocked in the elevator waiting or elevator taking process.

Disclosure of Invention

The embodiment of the application mainly aims to provide a robot scheduling method, a device, a system, electronic equipment and a storage medium, and aims to improve efficiency and effect of robot elevator taking scheduling, avoid the problem that task execution fails due to congestion in the process of executing elevator taking tasks by a robot, and improve safety, integrity and robustness of the robot for completing the elevator taking tasks under autonomous unmanned support platform scheduling.

In order to achieve the above object, an embodiment of the present application provides a robot scheduling method, including: acquiring a target elevator of the robot according to the elevator taking task of the robot; detecting the occupation state of each elevator waiting point of the target elevator to obtain the idle elevator waiting points of the target elevator; detecting whether the idle elevator waiting points meet the elevator waiting requirements of the robot or not; and under the condition that the idle elevator waiting points meet elevator waiting requirements, the robot is instructed to go to the idle elevator waiting points of the target elevator.

In order to achieve the above object, an embodiment of the present application further provides a robot scheduling apparatus, including: the acquisition module is used for acquiring a target elevator of the robot according to the elevator taking task of the robot; the detection module is used for detecting the occupation state of each elevator waiting point of the target elevator and acquiring the idle elevator waiting point of the target elevator; the control module is used for detecting whether the idle elevator waiting points meet the elevator waiting requirements of the robot or not; and under the condition that the idle elevator waiting points meet elevator waiting requirements, the robot is instructed to go to the idle elevator waiting points of the target elevator.

In order to achieve the above object, an embodiment of the present application further provides a robot scheduling system, including: the system comprises a cloud robot system and a cloud elevator control system; the cloud robot system comprises a cloud intelligent map center, a robot task scheduling center, a traffic flow scheduling center and a robot elevator control service center; the cloud intelligent map center is used for creating elevator waiting point groups and elevator taking point groups corresponding to the elevators; the robot task scheduling center is used for decomposing ladder taking tasks of the robot to generate a plurality of ladder taking tasks; the traffic flow dispatching center is used for maintaining the occupation and the release of each elevator waiting point and elevator taking points, dynamically planning elevator taking for the robot, and controlling the robot to execute elevator taking tasks according to the elevator waiting points and the elevator taking points; the robot elevator control service center is used for butting the cloud elevator control system and sending an elevator taking instruction of the robot to the cloud elevator control system; and the cloud elevator control system is used for issuing elevator control instructions to the elevator according to the received elevator taking instructions.

In order to achieve the above object, an embodiment of the present application further provides an electronic device, where the electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot scheduling method as above.

In order to achieve the above object, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the robot scheduling method as above.

The robot scheduling method provided by the embodiment of the application determines a target elevator according to the elevator taking task of the robot in the elevator taking scheduling process of the robot, detects the occupation state of each elevator waiting point of the target elevator, determines the idle elevator waiting point, further detects whether the idle elevator waiting point can meet the elevator waiting requirement of the robot, and instructs the robot to go to the idle elevator waiting point under the condition that the idle elevator waiting point can meet the elevator waiting requirement. The occupation state of each elevator waiting point of the target elevator to be taken by the robot is detected, the current occupation condition of the elevator waiting points and the remaining available elevator waiting points which can be occupied are accurately obtained, and whether the robot goes to the available elevator waiting points or not is determined by combining the elevator waiting requirements of the robot and the available elevator waiting points which can be occupied. Therefore, the occupation situation of the elevator waiting points is fully considered in the process of dispatching the robot for elevator waiting, the problem of traffic jam caused by the fact that the robot goes to the elevator waiting points under the condition that the elevator waiting points are insufficient is avoided, the failure of the robot taking the elevator due to traffic jam is further avoided, and the safety and the robustness of the robot waiting the elevator and taking the elevator are guaranteed.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a flow chart of a robot scheduling method in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a robot scheduling device in another embodiment of the present application;

FIG. 3 is a schematic diagram of a robot scheduling system in another embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device in another embodiment of the present application.

Detailed Description

As known from the background art, in order to solve the robot scheduling problem, a plurality of robots are generally allowed to sequentially go to an elevator waiting room and take an elevator according to a priority order when the robots are scheduled, but despite the scheduling of the robots being sorted, the plurality of robots are still prone to have elevator waiting conflict and elevator taking competition problems during task execution, which causes the robot to be jammed during the elevator waiting or elevator taking process. Therefore, how to improve the efficiency and effect of dispatching in the elevator taking process of the robot and avoid the failure of executing the elevator taking task caused by congestion in the elevator taking and waiting processes is a problem which needs to be solved urgently.

In order to solve the above problem, some embodiments of the present application provide a robot scheduling method, including: acquiring a target elevator of the robot according to the elevator taking task of the robot; detecting the occupation state of each elevator waiting point of the target elevator to obtain the idle elevator waiting points of the target elevator; detecting whether the idle elevator waiting points meet the elevator waiting requirements of the robot or not; and under the condition that the idle elevator waiting points meet elevator waiting requirements, the robot is instructed to go to the idle elevator waiting points of the target elevator.

The robot scheduling method provided by the embodiment of the application determines a target elevator according to the elevator taking task of the robot in the elevator taking scheduling process of the robot, detects the occupation state of each elevator waiting point of the target elevator, determines the idle elevator waiting point, further detects whether the idle elevator waiting point can meet the elevator waiting requirement of the robot, and instructs the robot to go to the idle elevator waiting point under the condition that the idle elevator waiting point can meet the elevator waiting requirement. The occupation state of each elevator waiting point of the target elevator to be taken by the robot is detected, the current occupation condition of the elevator waiting points and the remaining available elevator waiting points which can be occupied are accurately obtained, and whether the robot goes to the available elevator waiting points or not is determined by combining the elevator waiting requirements of the robot and the available elevator waiting points which can be occupied. Therefore, the occupation situation of the elevator waiting points is fully considered in the process of dispatching the robot for elevator waiting, the problem of traffic jam caused by the fact that the robot goes to the elevator waiting points under the condition that the elevator waiting points are insufficient is avoided, the failure of the robot taking the elevator due to traffic jam is further avoided, and the safety and the robustness of the robot waiting the elevator and taking the elevator are guaranteed.

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in the examples of the present application, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present application, and the embodiments may be mutually incorporated and referred to without contradiction.

The following description will specifically describe implementation details of the robot scheduling method described in the present application with reference to specific embodiments, and the following description is only provided for facilitating understanding of the implementation details and is not necessary for implementing the present solution.

A first aspect of the embodiments of the present application provides a robot scheduling method, which is applied to a robot control system or a cloud service for performing task allocation and scheduling on a robot, where the embodiment takes the cloud service as an example for description. Flow chart of the robot scheduling method referring to fig. 1, comprising the steps of:

and 101, acquiring a target elevator of the robot according to the elevator taking task of the robot.

Specifically, after the robot is put into use, the robot is in communication connection with a cloud service which is in charge of robot scheduling, management, monitoring and information storage, the cloud service distributes tasks for at least one communicatively connected robot according to factors such as functions, sizes and task execution capacity of the robot, and distributes elevator taking tasks for the robot when the robot needs to execute cross-floor tasks. After the elevator taking task is distributed to the robot, the cloud service can determine the elevator taking direction of the robot according to a target floor in the elevator taking task and the current floor of the robot, then detect the current running direction of the alternative elevators, and select one of the alternative elevators with the running direction consistent with the elevator taking direction of the robot as the target elevator for the robot to execute the elevator taking task; or determining the elevator taking authority of the robot according to the elevator taking task of the robot, and then selecting an elevator available for the robot from the plurality of elevators as a target elevator, so as to obtain the target elevator of the robot according to the elevator taking task of the robot.

In one example, the cloud service further includes, before detecting the occupancy state of each elevator waiting point of the target elevator and acquiring an idle elevator waiting point of the target elevator: acquiring a waiting area allocated for a target elevator in advance; dividing the elevator waiting area into a plurality of elevator waiting points in a preset shape according to the shape and the size of the elevator waiting area; wherein the areas of the elevator waiting points are equal. The cloud service acquires the position information of all the administered elevators in advance before dispatching the robot, and allocates elevator waiting areas to each elevator on different floors according to the current scene and the elevator positions. When the robot is used, the shape and the size of a landing area which is allocated to the target elevator in advance are inquired according to the identification of the target elevator of the robot, the landing area is divided into a plurality of landing points with preset shapes, and the area of each landing point is equal. For example, if the landing area of the target elevator 1 of the robot is a circular area, the landing area can be divided into a plurality of circular landing points with the same area and arranged in order according to the area of the landing area. The elevator waiting area is divided into a plurality of elevator waiting points with specified shapes and equal areas according to the shapes and sizes of the elevator waiting areas allocated for the elevators, so that the elevator waiting areas are fully utilized, the subsequent occupation and allocation of the elevator waiting points are conveniently and accurately managed, and the scheduling accuracy of the robot is ensured.

In addition, the shape of the elevator waiting area can be varied, and the shape of the divided elevator waiting points can be changed accordingly to ensure that the area of the elevator waiting area can be fully utilized.

Further, the high in the clouds service divides the elevator waiting area into a plurality of elevator waiting points of preset shape, includes: acquiring the number of robots scheduled in the current scene; and dividing the elevator waiting area into a plurality of elevator waiting points in a preset shape according to the number of the robots. The cloud service can count the number of the robots dispatched under the current scene in the process of dividing the elevator waiting points of the elevator waiting area, acquire the number of the robots which can take each elevator under the current scene, determine the number of the elevator waiting points arranged in the elevator waiting area according to the acquired number of the robots, calculate the area of each elevator waiting point according to the number of the elevator waiting points, and divide the elevator waiting area into a plurality of elevator waiting points in preset shapes consistent with the number of the robots. For example, the elevator waiting area is a square area, and the number of robots scheduled in the current scene is 4, so that the elevator waiting area can be divided into four square elevator waiting points which are distributed in two rows and two columns and have equal areas. The number of the elevator waiting points in the elevator waiting area is set according to the number of the robots dispatched under the current scene, and on the basis of ensuring the space safety and the utilization rate of the elevator waiting area, the elevator waiting area can be ensured to have as many robots as possible to be parallel.

In addition, after the elevator waiting points are divided in the elevator waiting area, priority division can be performed on the elevator waiting points, so that the capacity occupation of the elevator and the elevator taking sequence can be conveniently determined by the robot according to the priority sequence when the robot takes the elevator in the following process, and the elevator taking efficiency of the robot is ensured while avoiding elevator taking conflict. When the elevator waiting points are subjected to priority division, the division can be carried out according to the distance and the position of the elevator waiting points from an elevator entrance, and the elevator waiting points with the shorter distance have higher priority; the different elevator waiting points can also be numbered directly, the priority is determined according to the number size, and the like, and the specific mode of priority division is not limited in the embodiment.

And 102, detecting the occupation state of each elevator waiting point of the target elevator to obtain the idle elevator waiting point of the target elevator.

Specifically, after determining a target elevator which the robot wants to board according to the boarding task of the robot, the cloud service detects the current occupancy state of each elevator waiting point preset for the target elevator, for example, detects whether the robot exists in the elevator waiting point in a robot positioning manner, or detects whether a person or object obstructing the robot from occupying the elevator waiting point exists in the elevator waiting point in an infrared scanning manner, a depth detection manner, an image recognition manner, or the like. And the cloud service determines whether each elevator waiting point is currently in an occupied state according to the detection result, and acquires the idle elevator waiting points of which the target elevator is not in the occupied state. Through the detection of the elevator waiting point occupation state, the elevator waiting point occupation condition of the elevator waiting area of the target elevator is accurately obtained, and the robot elevator waiting and taking is conveniently and accurately dispatched in the follow-up process.

And 103, detecting whether the idle elevator waiting points meet the elevator waiting requirements of the robot.

Specifically speaking, the cloud service needs to detect whether the idle elevator waiting points can meet the elevator waiting requirements of the robot before the idle elevator waiting points in the target elevator waiting area of the command robot are subjected to elevator waiting, so that the problem of congestion caused by elevator waiting conflict when the command robot goes to the elevator waiting area to cause the elevator waiting points to happen under the condition that the idle elevator waiting points are not enough is avoided.

In one example, the cloud service detects whether the idle waiting point meets the waiting requirement of the robot, including: acquiring a first number of elevator waiting points required to be occupied by the robot according to the space occupation requirement of the robot; detecting whether the second number of the idle elevator waiting points is not less than the first number; and under the condition that the second number is not less than the first number, judging that the idle elevator waiting points can meet the elevator waiting requirements. The method comprises the steps that when the cloud service detects whether idle elevator waiting points meet elevator waiting requirements of a robot or not, according to the space occupation requirements of the robot, the shapes of the elevator waiting points and the corresponding space capacity, which are obtained in advance, the first number of the elevator waiting points needing to be occupied by the robot is calculated, and the first number of the elevator waiting points needing to be occupied by the robot is obtained. Then the second quantity of present idle wait for the ladder point in the high in the clouds service is not less than the first quantity of wait for the ladder point that the robot needs to occupy and is detected, under the condition that the quantity of idle wait for the ladder point is not less than the quantity of wait for the ladder point that the robot needs to occupy, the high in the clouds service judges that idle wait for the ladder point can satisfy the wait for the ladder demand of robot. The number of the elevator waiting points needing to be occupied is determined according to the space occupation requirement of the robot, and is compared with the number of the idle elevator waiting points, so that whether the idle elevator waiting points can meet the elevator waiting requirement of the robot is accurately judged, and the accuracy of the elevator waiting dispatching of the robot is further ensured.

Further, the cloud service still includes before determining the first number of the elevator waiting points that the robot needs to occupy according to the space occupation requirement of the robot: detecting the body type of the robot; and determining the space occupation requirement of the robot according to the body type detection result of the robot. Before the robot is dispatched, the cloud service needs to perform body type detection on the robot in advance, and obtains data used for representing the body type of the robot, such as the shape, length, width, area and height of the maximum cross section of the robot in the horizontal direction. And then calculating the space occupation requirement of the robot according to the body type detection result of the robot, and acquiring the space occupation requirement of the robot in the using process. The space resource occupation condition of the robot is determined and set according to the body type of the robot, so that the robot can be accurately dispatched by combining the capacity of elevator resources.

And 104, under the condition that the idle elevator waiting points meet elevator waiting requirements, instructing the robot to go to the idle elevator waiting points of the target elevator.

Specifically speaking, the cloud service detects that the idle elevator waiting point can satisfy the robot elevator waiting demand, and instructs the robot to start executing the elevator taking task and go to the idle elevator waiting point of the target elevator under the condition that the idle elevator waiting point can satisfy the robot elevator waiting demand. Under the condition that the idle elevator waiting point can meet the elevator waiting demand, the robot is instructed to start to execute the elevator taking task, so that enough occupied space can be reserved when the robot waits for an elevator, the problem that the robot blocks up in the elevator waiting process is avoided, and the safety and the robustness of the elevator waiting process are greatly improved.

In one example, the cloud service instructs the robot to travel to an idle landing of a target elevator, comprising: allocating a target elevator waiting point for the robot, instructing the robot to go to the target elevator waiting point and updating the idle elevator waiting point; wherein the target elevator waiting points comprise one or more idle elevator waiting points. The cloud service is when instructing the robot to go to the idle waiting elevator points of the target elevator, after acquiring the number of the waiting elevator points required to be occupied by the robot according to the space occupation requirement of the robot, selecting one or more combinations of the idle waiting elevator points as the waiting elevator positions of the robot, identifying the selected one or more idle waiting elevator points as the target waiting elevator points of the robot, then instructing the robot to occupy the allocated target waiting elevator points, going to the target waiting elevator points, and updating the idle waiting elevator points of the target elevator. The robot is allocated with the target elevator waiting points for the robot to wait for the elevator based on the resource occupation mechanism, so that the robot can have enough elevator waiting space when executing elevator waiting tasks, the congestion problem is avoided, and the idle elevator waiting points of the elevator are updated in time, so that the situation that the idle elevator waiting points are insufficient is avoided, and the situation that the new robot is dispatched to wait for the elevator is caused to jam is avoided.

It should be noted that, in a scenario of multi-robot scheduling, when the elevator capacity is sufficient, one or more robots may be instructed to enter the target elevator to perform elevator taking tasks according to the elevator waiting sequence when the elevator arrives.

In another example, the cloud service further comprises, after instructing the robot to travel to an idle waiting point of the target elevator: acquiring an idle elevator taking point of a target elevator when the target elevator reaches a current floor; detecting whether the idle elevator taking points meet the elevator taking requirements of the robot or not; and under the condition that the idle elevator taking points meet the elevator taking requirements, the robot is instructed to take the target elevator to execute the elevator taking task. When the robot is dispatched to execute the elevator taking task, the cloud service divides the elevator taking task of the robot into a plurality of elevator taking sub-tasks in advance for dispatching efficiency and effect, for example, the elevator taking task is divided into an elevator waiting task, an elevator taking sub-task and an elevator getting-out task. And then, according to the task execution sequence, sequentially executing the elevator taking sub tasks. After the robot is instructed to go to an idle elevator waiting point to wait for an elevator and complete an elevator waiting task, the robot is dispatched to execute an elevator taking task, the idle elevator taking point of the target elevator when the target elevator arrives at the current floor is obtained, whether the idle elevator taking point meets the elevator taking requirement of the robot or not is detected, and the robot is instructed to take the target elevator to start the elevator taking task when the situation that the idle elevator taking point is tender and the elevator taking requirement of the robot is met is detected. The elevator taking task is divided, so that the scheduling efficiency and effect of each time are guaranteed, whether the idle elevator taking point meets the elevator taking requirement of the robot or not when the elevator reaches the current floor is detected, and when the robot starts to be instructed to take the elevator according to the detection result, so that the problem of elevator capacity is fully considered in the elevator taking process of the robot, the elevator is prevented from being blocked or overloaded due to insufficient elevator capacity, the elevator taking task fails to be executed, and the robot is guaranteed to take the elevator to complete smoothly.

It is worth mentioning that the cloud service divides elevator taking points according to the nuclear load capacity of the elevator, the shape and the area of the interior of the elevator and other parameters in advance before the dispatching robot executes elevator taking tasks, and divides a plurality of elevator taking points in preset shapes in the interior of the elevator, so that the interior space and the nuclear load capacity of the elevator are utilized as much as possible, and the robot can be guaranteed to finish elevator taking dispatching timely and efficiently.

Further, the cloud service detects whether the idle elevator taking point meets the elevator taking requirement of the robot, and comprises the following steps: acquiring a third number of idle elevator taking points which need to be occupied when the robot takes the elevator; detecting whether the fourth number of the idle elevator taking points is not less than the third number; and under the condition that the fourth number is not less than the third number, judging that the idle elevator taking points can meet the elevator taking requirements. The cloud service acquires a third number of idle elevator taking points required to be occupied by the robot when the robot takes the elevator according to the space occupation requirement of the robot and the space capacity which can be provided by each elevator taking point in the elevator when detecting whether the idle elevator taking points of the target elevator meet the elevator taking requirement of the robot, acquires a fourth number of idle elevator taking points in the elevator according to a detection result of the elevator taking point occupation state, compares whether the fourth number is not less than the third number, and judges that the idle elevator taking points can meet the elevator taking requirement under the condition that the fourth number is not less than the third number. The number of elevator taking points which need to be occupied when the elevator is taken is obtained according to the space occupation requirement of the robot, and is compared with the number of the elevator taking points which are idle in the elevator, so that the robot can be contained in the elevator to take the elevator to perform accurate judgment, the smoothness of taking the elevator by the robot is ensured, and the problem of congestion or overload of the elevator is avoided.

Furthermore, after the robot is instructed by the cloud service to take the target elevator to perform the elevator taking task, the cloud service further comprises: and monitoring the task execution state of the elevator taking task, and updating the idle elevator taking point of the target elevator after the elevator taking task is finished. The cloud service monitors the execution state of the elevator taking task of the robot in real time after the robot is instructed to take the target elevator to execute the elevator taking task, and after the robot is monitored to reach the appointed floor, the robot is instructed to finish the elevator taking task, execute the elevator taking task, leave the target elevator, and update the idle elevator taking point of the target elevator. The occupied capacity of the elevator is released according to the task execution state, so that the elevator taking of the robot is smooth, and the subsequent elevator taking dispatching of other robots can be timely and efficient as far as possible.

In addition, when the robot is instructed to take the elevator by the cloud service, if the robot is the target elevator selected according to the elevator taking authority of the robot, before the robot is instructed to take the elevator, whether the running direction of the target elevator is consistent with the elevator taking direction of the robot can be detected, and under the condition that the running direction is inconsistent with the elevator taking direction, the robot is instructed to continue to take the elevator, and other robots in the same direction with the running direction of the target elevator are dispatched to take the elevator. And instructing the robot to continue calling the elevator, and instructing the robot to take the target elevator to execute an elevator taking task under the condition that the running direction of the target elevator is consistent with the elevator taking direction of the robot, so that the meaningless occupation of the robot on the elevator capacity is avoided, and the elevator resource utilization rate in the robot dispatching process is improved.

In addition, it should be understood that the above steps of the various methods are divided for clarity, and the implementation may be combined into one step or split into some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included in the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.

Another aspect of the embodiments of the present application relates to a robot scheduling apparatus, a schematic structural diagram of the robot scheduling apparatus is shown in fig. 2, and the robot scheduling apparatus includes:

and the obtaining module 201 is used for obtaining the target elevator of the robot according to the elevator taking task of the robot.

And the detection module 202 is used for detecting the occupation state of each elevator waiting point of the target elevator and acquiring the idle elevator waiting point of the target elevator.

The control module 203 is used for detecting whether the idle elevator waiting points meet the elevator waiting requirements of the robot; and under the condition that the idle elevator waiting points meet elevator waiting requirements, the robot is instructed to go to the idle elevator waiting points of the target elevator.

It should be understood that the present embodiment is an apparatus embodiment corresponding to the method embodiment, and the present embodiment can be implemented in cooperation with the method embodiment. The related technical details mentioned in the method embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related art details mentioned in the present embodiment can also be applied in the method embodiment.

It should be noted that, all the modules involved in this embodiment are logic modules, and in practical application, one logic unit may be one physical unit, may also be a part of one physical unit, and may also be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present application, a unit that is not so closely related to solving the technical problem proposed by the present application is not introduced in the present embodiment, but this does not indicate that there is no other unit in the present embodiment.

Another aspect of the embodiments of the present application further provides a robot scheduling system, referring to fig. 3, including: cloud robot system 301 and cloud elevator control system 302. The cloud robot system 301 comprises a cloud intelligent map center, a robot task scheduling center, a traffic flow scheduling center and a robot elevator control service center; the cloud intelligent map center is used for creating elevator waiting point groups and elevator taking point groups corresponding to the elevators; the robot task scheduling center is used for decomposing ladder taking tasks of the robot to generate a plurality of ladder taking tasks; the traffic flow dispatching center is used for maintaining the occupation and the release of each elevator waiting point and elevator taking points, dynamically planning elevator taking for the robot, and controlling the robot to execute elevator taking tasks according to the elevator waiting points and the elevator taking points; the robot elevator control service center is used for butting the cloud elevator control system and sending an elevator taking instruction of the robot to the cloud elevator control system; the cloud elevator control system 302 is used for issuing elevator control instructions to the elevator according to the received elevator taking instructions.

Specifically, the robot task scheduling center has functions of allocating and decomposing tasks to the robot, allocating tasks to be executed to the robot, statically decomposing elevator taking tasks of the robot, for example, when the robot needs to reach the second floor from the first floor to execute tasks, the task scheduling center decomposes the tasks into a waiting ladder task reaching the waiting ladder point from the current position, a taking ladder task reaching the second floor by taking a ladder, and a going-out ladder task leaving the elevator to the designated position to execute the tasks to be executed. And sending a plurality of ladder riding tasks of the robot to a traffic flow control center for unified planning and management in a resource competition scene.

The cloud intelligent map center has the functions of supporting the creation of a target elevator and a map of a current scene, wherein the target elevator and the map of the current scene are used for the robot to execute an elevator riding task, and elevator resources and path resources are created and maintained on the map. For example, in a multi-robot multi-elevator scenario, the shared traffic resources corresponding to different robots are generally the same elevator group, the same elevator outside-waiting elevator spot group, the same elevator inside-boarding elevator spot group, and the like. The cloud intelligent map center creates and sets different types of elevator waiting point groups and elevator taking point groups in the map according to application scenes and functions. For example, in a scenario where N robots share the same elevator, M elevator waiting points are provided in an elevator hall, and I elevator boarding points are provided in the elevator. On the basis of ensuring that the space is not blocked, the robots are allowed to work in parallel as many as possible, and the number of elevator waiting points can be generally set as the number of the robots.

In addition, the cloud intelligent map center can divide and set the space capacity of taking the elevator and the elevator according to the space capacity of the elevator area and the interior of the elevator, so that the space occupation condition and the residual space capacity of the elevator area and the interior of the elevator can be accurately acquired.

The traffic flow dispatching center has the functions of monitoring and maintaining the occupation and release conditions of resources according to the elevator resource information and the path resource information in the map, and dynamically planning paths for the robot under the condition of resource competition according to the occupation conditions of the resources so as to avoid traffic jam. For example, in a multi-robot multi-elevator scene, a task of predicting traffic flow is undertaken, and under the condition that competition exists for elevator taking tasks, the execution of partial elevator taking tasks of the robots is suspended through a message mechanism, the robots are instructed to wait in situ or continue to wait for the elevator until the tasks are recovered after resources are released, and the robots are enabled to queue and compete for the use of elevator resources and path resources to prevent traffic jam in a task waiting mode. When the robot takes the elevator to carry out the cross-floor elevator taking task, the path of the robot is dynamically planned according to the waiting condition of the elevator room and the real-time state of the elevator, so that the elevator taking efficiency is improved. By adding the traffic flow dispatching center, the occupation of elevator resources in the elevator taking process of the robot is evaluated and managed, so that whether the elevator resources meet task execution conditions or not can be fully considered in the dispatching process of the robot, and the problems of traffic jam and task execution failure caused by improper dispatching of the robot are avoided as far as possible.

The robot elevator control service center has the function of supporting the integration and butt joint of different cloud elevator control systems 302, and under the condition that the robot needs to take an elevator to execute a cross-floor task, the robot elevator control service center communicates with the specific cloud elevator control system 302 through a cloud docking protocol, and sends an elevator taking instruction of the robot to the cloud elevator control system 302. After receiving the elevator taking instruction of the robot, the cloud elevator control system 302 issues basic elevator control instructions such as calling, opening, closing, setting floors and the like to the terminal elevator control module through the cloud elevator control platform so as to control the operation of the elevator. Meanwhile, the robot elevator control service center can automatically acquire information such as opening and closing of the elevator door, the current floor and the running direction and report the information to the cloud server, so that the cloud robot system 301 can acquire the current running state of the elevator from the cloud server, and the robot can be dynamically dispatched. And the robots are controlled to take the elevator to go out of the elevator by combining the path planning result in the robot scheduling process, so that the elevator taking competition among the robots is avoided, and the problem of space congestion inside and outside the elevator caused by the elevator taking competition between the robots and users is solved.

The cloud elevator control system 302 is used for issuing elevator control instructions to the elevator according to the received instructions to control the operation of the elevator to be matched with the robot to execute tasks, and uploading current state information of the elevator to enable the cloud robot system 301 to carry out efficient dynamic scheduling on the robot.

Another aspect of the embodiments of the present application further provides an electronic device, with reference to fig. 4, including: at least one processor 401; and a memory 402 communicatively coupled to the at least one processor 401; the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401, so that the at least one processor 401 can execute the robot scheduling method described in any of the above method embodiments.

Where the memory 402 and the processor 401 are coupled by a bus, which may include any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 401 and the memory 402 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 401 may be transmitted over a wireless medium via an antenna, which may receive the data and transmit the data to the processor 401.

The processor 401 is responsible for managing the bus and general processing and may provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 402 may be used to store data used by processor 401 in performing operations.

Another aspect of the embodiments of the present application also provides a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.

That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice.

Claims (13)

1. A robot scheduling method, comprising:

acquiring a target elevator of the robot according to the elevator taking task of the robot;

detecting the occupation state of each elevator waiting point of the target elevator to obtain the idle elevator waiting points of the target elevator;

detecting whether the idle elevator waiting points meet elevator waiting requirements of the robot or not;

and under the condition that the idle elevator waiting point meets the elevator waiting demand, the robot is instructed to go to the idle elevator waiting point of the target elevator.

2. The robot dispatching method of claim 1, wherein before the detecting the occupancy status of each elevator waiting point of the target elevator and obtaining the idle elevator waiting point of the target elevator, the method further comprises:

acquiring a waiting area allocated for the target elevator in advance;

dividing the elevator waiting area into a plurality of elevator waiting points in a preset shape according to the shape and the size of the elevator waiting area; wherein the areas of the elevator waiting points are equal.

3. The robot scheduling method of claim 2, wherein said dividing the landing area into a plurality of landing points of a preset shape comprises:

acquiring the number of the robots scheduled in the current scene;

and dividing the elevator waiting area into a plurality of elevator waiting points in the preset shape according to the number of the robots.

4. The robot scheduling method of claim 1, wherein said detecting whether the free landing points satisfy landing requirements of the robot comprises:

acquiring a first number of the elevator waiting points required to be occupied by the robot according to the space occupation requirement of the robot;

detecting whether the second number of the idle elevator waiting points is not less than the first number;

and under the condition that the second number is not less than the first number, judging that the free elevator waiting points can meet the elevator waiting requirements.

5. The robot scheduling method of claim 4, further comprising, before said determining a first number of said landing points to be occupied by said robot based on space occupation requirements of said robot:

detecting the body type of the robot;

and determining the space occupation requirement of the robot according to the body type detection result of the robot.

6. The robot dispatching method of claim 1, wherein the instructing the robot to travel to the free landing of the target elevator comprises:

allocating a target elevator waiting point for the robot, instructing the robot to go to the target elevator waiting point and updating the idle elevator waiting point;

wherein the target elevator waiting point comprises one or more idle elevator waiting points.

7. The robot dispatching method of any of claims 1-6, further comprising, after said commanding the robot to travel to the free landing point of the target elevator:

acquiring an idle elevator taking point of the target elevator when the target elevator reaches the current floor;

detecting whether the idle elevator taking points meet elevator taking requirements of the robot or not;

and under the condition that the idle elevator taking points meet the elevator taking requirements, the robot is instructed to take the target elevator to execute the elevator taking task.

8. The robot dispatching method of claim 7, wherein the detecting whether the idle landing points meet the landing requirements of the robot comprises:

acquiring a third number of the idle elevator taking points which need to be occupied when the robot takes the elevator;

detecting whether a fourth number of the idle elevator taking points is not less than the third number;

and under the condition that the fourth number is not less than the third number, judging that the idle elevator taking points can meet the elevator taking requirements.

9. The robot dispatching method of claim 7, further comprising, after the instructing the robot to perform the boarding mission with the target elevator,:

and monitoring the task execution state of the elevator taking task, and updating the idle elevator taking point of the target elevator after the elevator taking task is finished.

10. A robot scheduling apparatus, comprising:

the acquisition module is used for acquiring a target elevator of the robot according to the elevator taking task of the robot;

the detection module is used for detecting the occupation state of each elevator waiting point of the target elevator to obtain the idle elevator waiting point of the target elevator;

the control module is used for detecting whether the idle elevator waiting points meet elevator waiting requirements of the robot or not; and under the condition that the idle elevator waiting point meets the elevator waiting demand, the robot is instructed to go to the idle elevator waiting point of the target elevator.

11. A robot scheduling system, comprising: the system comprises a cloud robot system and a cloud elevator control system;

the cloud robot system comprises a cloud intelligent map center, a robot task scheduling center, a traffic flow scheduling center and a robot elevator control service center;

the cloud intelligent map center is used for creating elevator waiting point groups and elevator taking point groups corresponding to the elevators;

the robot task scheduling center is used for decomposing ladder taking tasks of the robot to generate a plurality of ladder taking tasks;

the traffic flow dispatching center is used for maintaining the occupation and the release of each elevator waiting point and elevator taking points, dynamically planning elevator taking for the robot, and controlling the robot to execute the elevator taking task according to the elevator waiting points and the occupation conditions of the elevator taking points;

the robot elevator control service center is used for butting the cloud elevator control system and sending an elevator taking instruction of the robot to the cloud elevator control system;

and the cloud elevator control system is used for issuing elevator control instructions to the elevators according to the received elevator taking instructions.

12. An electronic device, comprising:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a robot scheduling method according to any one of claims 1 to 9.

13. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements the robot scheduling method of any of claims 1 to 9.

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