CN115122326A - Service scheduling management system, robot and service scheduling management method - Google Patents
Service scheduling management system, robot and service scheduling management method Download PDFInfo
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- CN115122326A CN115122326A CN202210764979.4A CN202210764979A CN115122326A CN 115122326 A CN115122326 A CN 115122326A CN 202210764979 A CN202210764979 A CN 202210764979A CN 115122326 A CN115122326 A CN 115122326A
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention discloses a service scheduling management system, a robot and a service scheduling management method. The above-mentioned system includes: the state group management module is used for managing a plurality of service groups, each service group corresponds to at least one service type, and each service type corresponds to the state information of at least one robot; the scheduling management module is used for managing one or more task queues respectively corresponding to each service type in parallel, adding at least one task to the corresponding task queue respectively when at least one task from a service demand end is received, and executing scheduling management of the robot according to the task queues and the state information; and the first interactive communication module is used for respectively transmitting task data generated by one or more tasks to be executed, which are extracted from the task queues by the scheduling management module, to the corresponding robots. By the multi-task parallel management and execution mode, multi-user sharing and multi-task queue type seamless planning and execution can be realized.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to a service scheduling management system, a robot and a service scheduling management method.
Background
In environmental places such as hotels, supermarkets, markets, hospitals and the like, the robot gradually replaces the tasks such as delivery, disinfection, cleaning and the like to be performed manually by virtue of the efficient, accurate and continuous working capacity of the robot.
At present, the service scheduling of a robot is mainly in a one-to-one independent use form of a user, after a service end issues a task, single-line service planning and execution from a robot starting point to a user target point are simply executed, multi-user and multi-task queue-type seamless planning and execution cannot be realized, multi-user robot sharing and multiplexing cannot be realized, the efficient, accurate and continuous working capacity of the robot cannot be exerted, and therefore the working efficiency of the robot is reduced.
Therefore, how to implement the queue-type seamless planning and execution of multi-user robot sharing multiplexing and multitasking is a problem to be solved urgently at present.
Disclosure of Invention
The invention mainly aims to disclose a service scheduling management system, a robot and a service scheduling management method, which at least solve the problems that in the related technology, robot service scheduling is mainly in a one-to-one independent use mode of users, and multi-user robot sharing multiplexing, multi-task queue-type seamless planning and execution and the like cannot be realized.
According to one aspect of the invention, a robot service scheduling management system is provided.
The robot service scheduling management system according to the present invention includes: the state group management module is used for managing a plurality of service groups according to the service group identifications bound by the scenes, each service group corresponds to at least one service type, and each service type corresponds to the state information of at least one robot; the scheduling management module is used for managing a plurality of task queues respectively corresponding to the service types in parallel, adding at least one task to the corresponding task queue when receiving at least one task from a service demand end, and executing scheduling management of the robot according to the task queues and the state information; and the first interactive communication module is respectively connected with the state group management module and the scheduling management module and is used for respectively transmitting task data generated by one or more to-be-executed tasks extracted from the task queues by the scheduling management module to corresponding robots.
According to another aspect of the present invention, a robot is provided.
The robot according to the present invention comprises: the second interactive communication module is used for reporting the state information of the robot, the service type and the service group corresponding to the state information to a robot service scheduling management system, and receiving task data from the robot service scheduling management system to execute scheduling management of the robot according to a plurality of task queues and the state information of the robot, wherein the robot service scheduling management system manages the plurality of service groups according to service group identifiers bound by scenes, each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, and each service type corresponds to one or more task queues respectively; and the task processing module is used for processing the received task data, converting a processing result into an instruction aiming at a specific module, transmitting the instruction to each module of the robot in real time and controlling the robot to complete a task.
According to another aspect of the invention, a service scheduling management method of a robot service scheduling management system is provided.
The service scheduling management method comprises the following steps: when at least one task from a business demand end is received, the at least one task is respectively added to corresponding task queues in a plurality of task queues, and scheduling management of the robot is executed according to the plurality of task queues and state information of the robot, wherein each business group corresponds to at least one business type, each business type corresponds to the state information of at least one robot, and each business type corresponds to one or more task queues respectively; and respectively transmitting task data generated by one or more tasks to be executed extracted from the task queues to the corresponding robots.
According to still another aspect of the present invention, a robot-based service scheduling management method is provided.
The service scheduling management method based on the robot comprises the following steps: reporting the state information of the robot, the service type and the service group corresponding to the state information to a robot service scheduling management system; receiving task data issued by the robot service scheduling management system according to the task queues and state information of the robot to execute scheduling management of the robot, wherein the robot service scheduling management system manages a plurality of service groups according to service group identifications bound by scenes, each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, and each service type corresponds to one or more task queues respectively; and processing the received task data, converting the processing result into an instruction for a specific module, transmitting the instruction to each module of the robot in real time, and controlling the robot to complete the task.
According to the invention, a robot service scheduling management scheme is provided, a state group management module manages a plurality of service groups according to service group identifications bound by scenes, each service group corresponds to at least one service type, each service type corresponds to state information of at least one robot, a scheduling management module manages a plurality of task queues respectively corresponding to the service types in parallel, when at least one task from a service demand end is received, the at least one task is respectively added to the corresponding task queues, the scheduling management of the robot is executed according to the plurality of task queues and the state information, and multi-user sharing and multi-task queue type seamless planning and execution can be realized through the multi-task parallel management and execution mode.
Drawings
Fig. 1 is a block diagram of a robot service scheduling management system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a robot service scheduling management system according to a preferred embodiment of the present invention;
FIG. 3 is a block diagram of a robot according to an embodiment of the present invention;
fig. 4 is a block diagram of a robot according to a preferred embodiment of the present invention;
fig. 5 is a flowchart of a service scheduling management method based on a robot service scheduling management system according to an embodiment of the present invention;
fig. 6 is a flowchart of a robot-based traffic scheduling management method according to an embodiment of the present invention.
Detailed Description
The following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings.
According to the embodiment of the invention, a robot service scheduling management system is provided.
Fig. 1 is a block diagram of a robot service scheduling management system according to an embodiment of the present invention. As shown in fig. 1, the robot service scheduling management system includes: a state group management module 10, configured to manage multiple service groups according to service group identifiers bound in a scene, where each service group corresponds to at least one service type, and each service type corresponds to state information of at least one robot; a scheduling management module 12, connected to the status group management module 10, configured to manage a plurality of task queues corresponding to the service types in parallel, add at least one task to a corresponding task queue when receiving the at least one task from a service demand end, and perform scheduling management of the robot according to the plurality of task queues and the status information; and the first interactive communication module 14 is connected to the status group management module and the scheduling management module, and is configured to transmit task data generated by one or more to-be-executed tasks extracted from the task queues by the scheduling management module to corresponding robots.
By adopting the robot service scheduling management system shown in fig. 1, a state group management module manages a plurality of service groups according to service group identifications bound by scenes, each service group corresponds to at least one service type, each service type corresponds to state information of at least one robot, the scheduling management module manages a plurality of task queues respectively corresponding to the service types in parallel, when at least one task from a service demand end is received, the at least one task is respectively added to the corresponding task queue, the scheduling management of the robot is executed according to the task queues and the state information, and the multi-user sharing and multi-task queue type seamless planning and execution can be realized through the multi-task parallel management and execution mode.
In the preferred implementation process, the service group identifier may be bound to a scene, for example, a service scene corresponding to the mall 1, a service scene corresponding to the mall 2, a service scene corresponding to the hotel 1, and the like. Each service group corresponds to a plurality of service types, for example, hotel 1 deploys 3 service types of robots, such as a killing service, a delivery service, and a cleaning service. Each service type corresponds to at least 1 robot, and the state group management module manages the state information of each robot according to the layout architecture.
The state information is information related to the robot, including but not limited to: business information, pose information, speed information, sensor working state information, battery power, current bearable weight, current bin accommodation space and the like.
Preferably, as shown in fig. 2, the robot service scheduling management system may further include: the map group management module 16 is respectively connected with the scheduling management module 12 and the first interactive communication module 14, and is configured to group the service maps according to the scene identifiers bound to the robot location information, and manage the service maps in each group in a group management manner, where each map group corresponds to at least one scene, and each scene corresponds to multiple service maps; the first interactive communication module 14 is further configured to synchronize the service map managed by the map group management module to each robot under each service group respectively by using each service group as a unit, or synchronize to each robot under each service type respectively by using each service type as a unit.
Preferably, the first interactive communication module 14 is further configured to receive state information reported by the robot in real time, a service group identifier and a service type identifier corresponding to the state information, and receive a service map established or updated by the robot and a scene identifier corresponding to the service map; the state group management module 10 is further configured to perform group management on the state information according to the service group identifier and the service type identifier corresponding to the state information reported in real time; the map group management module 16 is further configured to perform group management on the service map according to the scene identifier corresponding to the established or updated service map.
In a plurality of robot operation scenes, a robot service scheduling management system receives state information (for example, related robot information such as service information, pose information, speed information, sensor working state information, battery power, current bearable weight, current bin accommodation space and the like) reported in real time from a robot and a service group and a service type corresponding to the state information, and performs grouping management on the state information according to a service group identifier and a service type identifier corresponding to the state information reported in real time.
The robot service scheduling management system can receive the state information reported in real time from the robot, and also can receive a service map established or updated by the robot (namely, the service map can be established for the first time or can be an updated map in a subsequent operation process) and a scene identifier corresponding to the service map, and the map group management module carries out grouping management on the service map according to the scene identifier corresponding to the established or updated service map. Therefore, the robot state information and the service map maintained and managed by the robot service scheduling management system can be pre-collected, and can also be dynamically uploaded and updated from the edge-end robot in real time in an actual service scene, so that the real-time performance is good, and the scene adaptability is strong. And the service map created or updated by the robot is uploaded to the map group management module 16 of the robot service scheduling management system for unified management, and can be shared to each robot in the same service group through the first interactive communication module 14, or shared to each robot in the same service type by taking each service type as a unit.
Preferably, the service map includes but is not limited to: the system comprises a scene map and business operation information corresponding to each target point in a robot motion track and at least one target point on the robot motion track, wherein the robot motion track is bound in the scene map based on real-time coordinates.
In the preferred implementation process, the initial position of the robot can be set as a service waiting area, and the robot is arranged in the waiting area and matched with a service demand side. The use flow of the robot is divided into a deployment stage and a use stage, and in the deployment stage, the use flow of the robot is divided into 2 stages: stage 1, deployment to a waiting area that can be run near a customer, for example, a customer doorway; and 2, carrying out internal business operation deployment of the client, such as regional killing, article distribution and scene cleaning. In the use stage, two use modes can be adopted: in the mode 1, when a user uses the robot for the first time, if no deployment operation is carried out, the robot is deployed to a service waiting area, then service operation deployment is carried out, and the robot executes service operation; the robot can automatically run to a client scene in a reservation mode and execute corresponding business operation; mode 2, when the robot has been deployed to the service waiting area and the client has performed service operation deployment, the client may select to automatically execute the saved service operation, or abandon the service operation, perform service operation deployment again, and may save multiple service operation deployments; when the client only carries out the deployment in the client waiting area, the service operation deployment is carried out, and the robot executes the service operation; and then the robot can automatically run to a client scene in a reservation mode and execute corresponding business operation.
When the robot carries out waiting area deployment and service deployment, the robot automatically records a scene map, a robot motion track and service operation information corresponding to each target point of at least one target point on the motion track, and binds the motion track and the service operation information corresponding to each target point of at least one target point on the motion track to the scene map, so that the motion track and the service operation of the robot are associated with position coordinates on the scene map.
Preferably, the schedule management module 12 may further include: the task management sub-module 120 is configured to add at least one task from the service request end to a corresponding task queue in the multiple task queues, where when multiple tasks need to be added to a same task queue, the tasks are sorted and added in the same task queue according to the order of task priority, and for the tasks with the same priority, the tasks are sorted and added in the same task queue according to the received sequence of task time; and the scheduling management submodule 122 is configured to determine whether each service type in each service group corresponds to an idle robot according to the state information of the robot maintained by the state group management module, determine, for each idle robot in the one or more idle robots, a task queue corresponding to the service type in the service group to which the idle robot belongs when it is determined that one or more idle robots currently exist, and sequentially determine whether there is a task that can be allocated to the idle robot according to task sequencing in the task queue.
In the preferred implementation process, after the robot deployment is completed, a client makes an appointment through a service demand end (for example, an APP application end), at least one task of the appointment is sent to a robot service scheduling management system, and the robot service scheduling management system can issue the appointment task in units of service types; as described above, since the scheduling management module manages one or more task queues corresponding to each service type in parallel, that is, one or more task queues corresponding to each service type, for each task of the at least one reserved task, each task may be sent to the task queue corresponding to the corresponding service type.
When a plurality of tasks need to be added to the same task queue, the tasks are sorted and added in the same task queue according to the order of the priority of the tasks, and for the tasks with the same priority, the tasks are sorted and added in the same task queue according to the time order of the received tasks. For example, task 1 has a higher priority than task 2, then task 1 is ranked before task 2; when the priority of task 1 is equal to task 2, the addition is made in the order of receiving the tasks, and if task 1 is received first, task 1 is ranked before task 2.
And judging whether each service type under each service group corresponds to an idle robot according to the state information of the robot maintained by the state group management module, determining a task queue corresponding to the service type under the service group to which the idle robot belongs for each idle robot in the one or more idle robots when determining that one or more idle robots currently exist, and sequentially judging whether tasks capable of being allocated to the idle robot exist according to the task sequence in the task queue. For example, when it is determined that there is an idle robot currently in the distribution service type group in the mall 1 service group, whether there is a task that can be allocated to the idle robot may be comprehensively determined according to state information (e.g., pose information, speed information, sensor working state information, battery power, available storage bin, bin accommodating space, bearable weight, distribution article type, etc.) of the idle robot, and tasks that can be allocated to the idle robot may be selected one by one from task queues corresponding to the distribution service type. And when the tasks which can be distributed to the idle robot are screened out, task data of the tasks are issued to the idle robot.
Therefore, multiple service types can be deployed in the same service group, one or more robots are correspondingly deployed in each service type, a customer submits different service orders to a service demand end according to different service demands, and the service demand end sends the acquired reservation tasks to a robot service scheduling management system; the robot service scheduling management system performs sub-service scheduling management according to different service types and different service functions of the robot, instead of adopting the same single-queue management mode in the related technology.
According to the embodiment of the invention, the invention further provides the robot.
Fig. 3 is a block diagram of a robot according to an embodiment of the present invention. As shown in fig. 3, the robot includes: the second interactive communication module 30 is configured to report state information of the robot, a service type and a service group corresponding to the state information to a robot service scheduling management system, and receive task data from the robot service scheduling management system, where the task data is issued by the robot service scheduling management system according to a plurality of task queues and state information of the robot, the robot service scheduling management system manages the plurality of service groups according to a service group identifier bound to a scene, each service group corresponds to at least one service type, each service type corresponds to state information of at least one robot, and each service type corresponds to one or more task queues respectively; and the task processing module 32 is connected with the second interactive communication module 30 and is used for processing the received task data, converting the processing result into an instruction for a specific module, transmitting the instruction to each module of the robot in real time and controlling the robot to complete the task.
The robot shown in fig. 3 reports the state information of the robot, the service type and the service group corresponding to the state information to the robot service scheduling management system, receives task data sent by the robot service scheduling management system according to the plurality of task queues and the state information of the robot to perform scheduling management of the robot, processes the received task data, converts the processing result into an instruction for a specific module, and transmits the instruction to each module of the robot in real time to control the robot to complete a task. The robot service scheduling management system manages a plurality of service groups according to service group identifications bound by scenes, each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, each service type corresponds to one or more task queues respectively, and multi-user sharing and multi-task queue-type seamless planning and execution can be realized through the multi-task parallel management and execution mode.
Preferably, as shown in fig. 4, the robot further includes: the map management module 34 is configured to bind a robot motion trajectory and service operation information corresponding to each target point of at least one target point on the motion trajectory in an established scene map to obtain a service map when the robot performs environment mapping and service operation when starting to execute service operation deployment from a waiting area; the second interactive communication module 30 is further configured to report a service map created or updated by the robot and a scene identifier corresponding to the service map to the robot service scheduling management system, where the robot service scheduling management system groups the service maps according to the scene identifier bound to the robot location information, and manages the service maps in each group in a group management manner, each map group corresponds to at least one scene, and each scene corresponds to multiple service maps.
Preferably, the second interactive communication module 30 is further configured to receive a service map synchronized by the robot service scheduling management system using each service group or the service type as a unit, where the service map is reported by other robots except the current robot in the robot belonging to the service group or the robot corresponding to the service type.
Preferably, the map management module 34 is further configured to optimize a scene map corresponding to the established or updated service map, a robot motion trajectory, and service operation information corresponding to each of at least one target point on the motion trajectory when instant positioning and map construction (SLAM) closed-loop correction occurs; the task processing module 32 is further configured to convert the task data into business operation information, convert a processing result of the business operation information into an instruction for a specific module, transmit the instruction to each module of the robot in real time, extract a business map corresponding to the task data from the stored one or more business maps, and control the robot to complete business operations corresponding to one or more target points when the robot runs to the one or more target points bound to the business map.
As described above, in the preferred implementation process, when the robot performs service waiting area deployment and service deployment, the robot automatically records a scene map, a robot motion track, and service operation information corresponding to each target point of at least one target point on the motion track, and binds the motion track and the service operation to the scene map to obtain the service map, so that the motion track and the service operation of the robot are associated with the position coordinates of the scene map.
And when the SLAM closed loop correction occurs, the scene map corresponding to the established or updated service map, the bound robot motion track, and the service operation information corresponding to each target point in at least one target point on the motion track can be optimized and corrected correspondingly.
In addition, a service map (a scene map bound with a robot motion trail and service operation information) deployed by each edge-end robot can be uploaded to a robot service scheduling management system arranged at the cloud for unified management, and the service scheduling management system of the robot shares the service map with other robots belonging to the same service group or the same service type of the edge-end robot for use.
According to the embodiment of the invention, the invention also provides a service scheduling management method based on the robot service scheduling management system.
Fig. 5 is a flowchart of a service scheduling management method based on a robot service scheduling management system according to an embodiment of the present invention. As shown in fig. 5, the service scheduling management method includes:
step S501: when at least one task from a service demand end is received, the at least one task is respectively added to corresponding task queues in a plurality of task queues, and scheduling management of the robot is executed according to the plurality of task queues and state information of the robot, wherein each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, and each service type corresponds to one or more task queues respectively;
step S502: and respectively transmitting task data generated by one or more tasks to be executed extracted from the task queues to the corresponding robots.
By adopting the robot service scheduling management method shown in fig. 5, a robot service scheduling management system manages a plurality of service groups according to service group identifications bound by scenes, each service group corresponds to at least one service type, each service type corresponds to state information of at least one robot, each service type corresponds to one or more task queues respectively, when at least one task from a service demand end is received, the at least one task is respectively added to the corresponding task queue in the plurality of task queues, scheduling management of the robot is executed according to the plurality of task queues and the state information, and multi-user sharing and multi-task queue type seamless planning and execution can be realized through the multi-task parallel management and execution mode.
Preferably, before receiving at least one task from the business requirement end in step S501, the following process may be further included: receiving state information reported by a robot in real time, a service group identifier and a service type identifier corresponding to the state information, and receiving a service map established or updated by the robot and a scene identifier corresponding to the service map, wherein the service map comprises: the method comprises the steps of obtaining a scene map and business operation information corresponding to each target point in a robot motion track and at least one target point on the robot motion track, wherein the business operation information is bound in the scene map based on real-time coordinates; and performing grouping management on the state information according to the service group identification and the service type identification corresponding to the state information reported in real time, and performing grouping management on the service map according to the scene identification corresponding to the established or updated service map, wherein each map group corresponds to at least one scene, and each scene corresponds to a plurality of service maps.
Preferably, in step S501, when at least one task from the service demand end is received, the at least one task is added to the corresponding task queue, and the performing of the scheduling management of the robot according to the plurality of task queues and the state information of the robot may further include the following processing: respectively adding at least one task from a service demand end into corresponding task queues, wherein when a plurality of tasks need to be added into the same task queue, the tasks are sorted and added in the same task queue according to the order of the priority of the tasks, and for the tasks with the same priority, the tasks are sorted and added in the same task queue according to the time order of the received tasks; and judging whether each service type under each service group corresponds to an idle robot according to the state information of the robot maintained by the state group management module, determining a task queue corresponding to the service type under the service group to which the idle robot belongs for each idle robot in the one or more idle robots when determining that one or more idle robots currently exist, and sequentially judging whether tasks capable of being allocated to the idle robot exist according to the task sequence in the task queue.
According to the embodiment provided by the invention, the invention also provides a robot-based service scheduling management method.
Fig. 6 is a flowchart of a robot-based traffic scheduling management method according to an embodiment of the present invention.
As shown in fig. 6, the robot-based service scheduling management method includes:
step S601, reporting the state information of the robot, the service type and the service group corresponding to the state information to a robot service scheduling management system;
step S602, receiving task data issued by the robot service scheduling management system according to the task queues and the state information of the robot to execute the scheduling management of the robot, wherein the robot service scheduling management system manages a plurality of service groups according to the service group identification bound by the scene, each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, and each service type corresponds to one or more task queues respectively;
and step S603, processing the received task data, converting the processing result into an instruction aiming at a specific module, transmitting the instruction to each module of the robot in real time, and controlling the robot to complete the task.
By adopting the method shown in fig. 6, the robot reports the state information, the service type and the service group corresponding to the state information to the robot service scheduling management system, receives the task data sent by the robot service scheduling management system according to the plurality of task queues and the state information of the robot to execute the scheduling management of the robot, processes the received task data, converts the processing result into an instruction for a specific module, and transmits the instruction to each module of the robot in real time to control the robot to complete the task. The robot service scheduling management system manages a plurality of service groups according to service group identifications bound by scenes, each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, each service type corresponds to one or more task queues respectively, and multi-user sharing and multi-task queue-type seamless planning and execution can be realized through the multi-task parallel management and execution mode.
Preferably, the robot-based service scheduling management method may further include: the method comprises the steps that when a robot is controlled to perform environment mapping and service operation under the condition that service operation deployment is carried out from a waiting area, a robot motion track and service operation information corresponding to each target point of at least one target point on the motion track are bound in an established scene map to obtain a service map; and reporting a service map established by the robot and a scene identifier corresponding to the service map to the robot service scheduling management system, so that the robot service scheduling management system groups the service maps according to the scene identifier bound by the robot position information, and manages the service maps in each group in a group management mode, wherein each map group corresponds to at least one scene, and each scene corresponds to a plurality of service maps.
Preferably, after the robot motion trajectory and the service operation information corresponding to each target point of the at least one target point on the motion trajectory are bound in the established scene map to obtain the service map, the method further includes the following steps: when instant positioning and map building SLAM closed-loop correction occurs, optimizing a scene map corresponding to the built or updated service map, a robot motion track and service operation information corresponding to each target point in at least one target point on the motion track; processing the task data, converting a processing result into an instruction for a specific module and transmitting the instruction to each module of the robot in real time, wherein the step of controlling the robot to complete the task further comprises the following steps: and converting the task data into service operation information, converting a processing result of the service operation information into an instruction for a specific module, transmitting the instruction to each module of the robot in real time, extracting a service map corresponding to the task data from one or more stored service maps, and controlling the robot to complete service operation corresponding to one or more target points when the robot runs to one or more target points bound to the service map.
To sum up, with the above embodiment provided by the present invention, after the robot deployment is completed, the user makes a reservation for a task through the service demand end, the reserved task is sent to the robot service scheduling management system, and the service scheduling management system issues the reserved task with the service type as a unit; the issued at least one reservation task is respectively managed in a task queue corresponding to each service type in a task queue mode; when the idle robot exists, the idle robot is preferentially used for executing tasks, whether tasks which can be distributed to the idle robot exist in a task queue corresponding to a service type under a service group to which the idle robot belongs is determined, when the idle robot does not exist, the received reserved tasks are placed in the corresponding task queue, and queue management is carried out according to the task delivery sequence and the task priority. Robots of the same service group can deploy robots of multiple service types, for example, the robots can simultaneously comprise robots for delivery, killing, cleaning and the like; the method comprises the following steps that a user submits different service orders to a service demand end according to different service demands, and the service demand end acquires the service demands and then sends the service demands to a robot service scheduling management system; the robot service scheduling management system performs sub-service scheduling management according to different service types and different robot function types, instead of the same single queue management. The robot multi-user sharing and multitask queue-type seamless planning and execution are realized, and the intelligent level, the working efficiency and the use frequency of the robot are improved.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be considered by those skilled in the art are within the scope of the present invention.
Claims (15)
1. A robot service scheduling management system, comprising:
the state group management module is used for managing a plurality of service groups according to the service group identifications bound by the scenes, each service group corresponds to at least one service type, and each service type corresponds to the state information of at least one robot;
the scheduling management module is used for managing one or more task queues respectively corresponding to each service type in parallel, adding at least one task to the corresponding task queue when receiving at least one task from a service demand end, and executing scheduling management of the robot according to the task queues and the state information;
and the first interactive communication module is respectively connected with the state group management module and the scheduling management module and is used for respectively transmitting task data generated by one or more to-be-executed tasks extracted from the task queues by the scheduling management module to corresponding robots.
2. The robotic traffic scheduling management system of claim 1, further comprising:
the map group management module is used for grouping the service maps according to the scene identifiers bound by the robot position information and managing the service maps under each group in a group management mode, wherein each map group corresponds to at least one scene, and each scene corresponds to a plurality of service maps;
the first interactive communication module is further configured to synchronize the service map managed by the map group management module to each robot under each service group respectively by taking each service group as a unit, or synchronize the service map to each robot under each service type respectively by taking each service type as a unit.
3. The robotic traffic scheduling management system of claim 2,
the first interactive communication module is also used for receiving the state information reported by the robot in real time, the service group identification and the service type identification corresponding to the state information, and receiving a service map established or updated by the robot and a scene identification corresponding to the service map;
the state group management module is also used for carrying out grouping management on the state information according to the service group identification and the service type identification corresponding to the state information reported in real time;
and the map group management module is also used for grouping and managing the service map according to the scene identification corresponding to the established or updated service map.
4. The robotic traffic scheduling management system according to any of claims 1 to 3, wherein the traffic map comprises: the method comprises the steps of a scene map and business operation information corresponding to each target point in a robot motion track bound in the scene map and at least one target point on the robot motion track based on real-time coordinates.
5. The robotic traffic scheduling management system of claim 4 wherein said scheduling management module further comprises:
the task management sub-module is used for respectively adding at least one task from the service demand end to corresponding task queues in the plurality of task queues, wherein when the plurality of tasks are required to be added in the same task queue, the tasks are sorted and added in the same task queue according to the order of the priority of the tasks, and for the tasks with the same priority, the tasks are sorted and added in the same task queue according to the time sequence of the received tasks;
and the scheduling management submodule is used for judging whether each service type under each service group corresponds to an idle robot or not according to the state information of the robot maintained by the state group management module, determining a task queue corresponding to the service type under the service group to which the idle robot belongs for each idle robot in one or more idle robots when determining that one or more idle robots exist currently, and sequentially judging whether tasks capable of being distributed to the idle robot exist or not according to the task sequence in the task queue.
6. A robot, comprising:
the second interactive communication module is used for reporting the state information of the robot, the service type and the service group corresponding to the state information to a robot service scheduling management system, and receiving task data from the robot service scheduling management system to execute scheduling management of the robot according to a plurality of task queues and the state information of the robot, wherein the robot service scheduling management system manages the plurality of service groups according to service group identifiers bound by scenes, each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, and each service type corresponds to one or more task queues respectively;
and the task processing module is used for processing the received task data, converting the processing result into an instruction for the specific module, transmitting the instruction to each module of the robot in real time and controlling the robot to complete the task.
7. The robot of claim 6, further comprising:
the map management module is used for binding a robot motion track and service operation information corresponding to each target point of at least one target point on the motion track in an established scene map to obtain a service map when the robot is controlled to perform environment mapping and service operation deployment from a waiting area;
the second interactive communication module is further configured to report a service map created or updated by the robot and a scene identifier corresponding to the service map to the robot service scheduling management system, where the robot service scheduling management system groups the service maps according to the scene identifier bound to the robot position information, and manages the service maps in each group in a group management manner, each map group corresponds to at least one scene, and each scene corresponds to multiple service maps.
8. The robot of claim 7,
the second interactive communication module is further configured to receive a service map synchronized by the robot service scheduling management system in units of each service group or the service type, where the service map is reported by other robots except the current robot in the robot belonging to the service group or the robot corresponding to the service type of the robot.
9. A robot as claimed in claim 7 or 8,
the map management module is also used for optimizing a scene map corresponding to the established or updated service map, a robot motion track and service operation information corresponding to each target point in at least one target point on the motion track when instant positioning and map building SLAM closed-loop correction occur;
the task processing module is further configured to convert the task data into business operation information, convert a processing result of the business operation information into an instruction for a specific module, transmit the instruction to each module of the robot in real time, extract a business map corresponding to the task data from the stored one or more business maps, and control the robot to complete business operations corresponding to one or more target points when the robot runs to the one or more target points bound to the business map.
10. A service scheduling management method based on the robot service scheduling management system according to any one of claims 1 to 5, comprising:
when at least one task from a service demand end is received, the at least one task is respectively added to corresponding task queues in a plurality of task queues, and scheduling management of the robot is executed according to the plurality of task queues and state information of the robot, wherein each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, and each service type corresponds to one or more task queues respectively;
and respectively transmitting task data generated by one or more tasks to be executed extracted from the task queues to the corresponding robots.
11. The service scheduling management method according to claim 10, before receiving at least one task from the service requiring end, further comprising:
receiving state information reported by a robot in real time, a service group identifier and a service type identifier corresponding to the state information, and receiving a service map established or updated by the robot and a scene identifier corresponding to the service map, wherein the service map comprises: the method comprises the steps of obtaining a scene map and business operation information corresponding to each target point in a robot motion track and at least one target point on the robot motion track, wherein the business operation information is bound in the scene map based on real-time coordinates;
and performing grouping management on the state information according to the service group identification and the service type identification corresponding to the state information reported in real time, and performing grouping management on the service map according to the scene identification corresponding to the established or updated service map, wherein each map group corresponds to at least one scene, and each scene corresponds to a plurality of service maps.
12. The service scheduling management method according to claim 10, wherein, when at least one task is received from a service demand side, the at least one task is added to a corresponding task queue, and performing scheduling management of the robot according to the plurality of task queues and the state information of the robot includes:
respectively adding at least one task from a service demand end into corresponding task queues, wherein when a plurality of tasks need to be added into the same task queue, the tasks are sorted and added in the same task queue according to the order of the priority of the tasks, and for the tasks with the same priority, the tasks are sorted and added in the same task queue according to the time order of the received tasks;
and judging whether each service type under each service group corresponds to an idle robot according to the state information of the robot maintained by the state group management module, determining a task queue corresponding to the service type under the service group to which the idle robot belongs for each idle robot in the one or more idle robots when determining that one or more idle robots currently exist, and sequentially judging whether tasks capable of being allocated to the idle robot exist according to the task sequence in the task queue.
13. A service scheduling management method for a robot according to any one of claims 6 to 9, comprising:
reporting the state information of the robot, the service type and the service group corresponding to the state information to a robot service scheduling management system;
receiving task data issued by the robot service scheduling management system according to the task queues and the state information of the robot to execute scheduling management of the robot, wherein the robot service scheduling management system manages a plurality of service groups according to service group identifications bound by scenes, each service group corresponds to at least one service type, each service type corresponds to the state information of at least one robot, and each service type corresponds to one or more task queues respectively;
and processing the received task data, converting the processing result into an instruction for a specific module, transmitting the instruction to each module of the robot in real time, and controlling the robot to complete the task.
14. The traffic scheduling management method according to claim 13, further comprising:
the method comprises the steps that when a robot is controlled to perform environment mapping and service operation under the condition that service operation deployment is started from a waiting area, a robot motion track and service operation information corresponding to each target point of at least one target point on the motion track are bound in an established scene map to obtain a service map;
and reporting a service map established by the robot and a scene identifier corresponding to the service map to the robot service scheduling management system, so that the robot service scheduling management system groups the service maps according to the scene identifier bound by the robot position information, and manages the service maps in each group in a group management mode, wherein each map group corresponds to at least one scene, and each scene corresponds to a plurality of service maps.
15. The traffic scheduling management method according to claim 14,
the method comprises the following steps of binding a robot motion track and service operation information corresponding to each target point of at least one target point on the motion track in an established scene map, and after obtaining the service map, further comprising: when instant positioning and map building SLAM closed-loop correction occurs, optimizing a scene map corresponding to the established or updated service map, a robot motion track and service operation information corresponding to each target point in at least one target point on the motion track;
processing the task data, converting a processing result into an instruction for a specific module and transmitting the instruction to each module of the robot in real time, wherein controlling the robot to complete the task further comprises: and converting the task data into service operation information, converting a processing result of the service operation information into an instruction for a specific module, transmitting the instruction to each module of the robot in real time, extracting a service map corresponding to the task data from one or more stored service maps, and controlling the robot to complete service operation corresponding to one or more target points when the robot runs to one or more target points bound to the service map.
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