CN115271556A - Robot task scheduling method and device, readable storage medium and electronic equipment - Google Patents

Robot task scheduling method and device, readable storage medium and electronic equipment Download PDF

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CN115271556A
CN115271556A CN202211178963.1A CN202211178963A CN115271556A CN 115271556 A CN115271556 A CN 115271556A CN 202211178963 A CN202211178963 A CN 202211178963A CN 115271556 A CN115271556 A CN 115271556A
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robot
task
scheduling
subtasks
subtask
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CN115271556B (en
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田丰
黄伟
祝华锋
徐晓明
丁建中
万姜涛
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Jiangxi Firefly Microelectronics Technology Co ltd
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Abstract

A robot task scheduling method, a device, a readable storage medium and an electronic device are applied to a master control end, wherein the master control end is electrically connected with scheduling ends of a plurality of operation areas; determining the task type of the subtasks according to the task content of the subtasks, determining a target robot for executing the subtasks according to the task type of each subtask and basic information of the current idle robot, determining an operation area to which each subtask belongs, and allocating the target robot and the corresponding subtasks to a scheduling end of the operation area to which the subtasks belong, so that the scheduling end plans a driving route of the allocated target robot in the operation area and controls the allocated target robot to execute the corresponding subtasks. The invention can greatly improve the efficiency of completing the production task.

Description

Robot task scheduling method and device, readable storage medium and electronic equipment
Technical Field
The present invention relates to the field of robot technologies, and in particular, to a robot task scheduling method, apparatus, readable storage medium, and electronic device.
Background
The robot is an intelligent robot capable of working semi-autonomously or fully autonomously, can complete dangerous, heavy and complex work, and improves the working efficiency and quality. With the development of science and technology, robots have been applied to the fields of military affairs, education, service industry, factory manufacturing, and the like.
Especially in the factory manufacturing industry, the robot can complete a lot of repeated and heavy work, so that the production efficiency is greatly improved, and the labor cost is greatly saved. With the rapid development of manufacturing enterprises and the iterative update of logistics systems, the requirements on robots in the manufacturing industry are continuously increased.
The workshop robot has the advantages that the production workshop procedures are multiple, the required robots are multiple, each robot needs to complete respective tasks in production time, and therefore the workshop robot is quite complex in path planning, resource scheduling, task allocation and the like, and low in working efficiency. Therefore, it is important to improve the efficiency of the robot to complete the production task.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a robot task scheduling method, apparatus, readable storage medium and electronic device to improve efficiency of a robot in completing a production task.
The invention discloses a robot task scheduling method, which is applied to a master control end, wherein the master control end is electrically connected with scheduling ends of a plurality of operation areas, the robot task scheduling method comprises the following steps,
acquiring a production task, and dividing the production task into a plurality of subtasks;
determining task types of the subtasks according to task contents of the subtasks, and determining a target robot for executing the subtasks according to the task types of the subtasks and basic information of a current idle robot, wherein the task types comprise a long-term type and a short-term type, the basic information comprises a function and a state grade, and the state grade is used for representing the state goodness of the robot;
and determining the working area to which each subtask belongs, and allocating the target robot and the corresponding subtask to a scheduling end of the working area to which the subtask belongs, so that the scheduling end plans a driving route of the allocated target robot in the working area and controls the allocated target robot to execute the corresponding subtask.
Further, in the robot task scheduling method, the step of determining a target robot for executing the subtasks according to the task type of each subtask and basic information of the currently idle robot includes:
determining the priority of each idle robot according to the state grade of the robot, and determining the task priority of each subtask according to the task type, wherein the priority of the subtask of the long-term type is higher than that of the subtask of the short-term type;
determining a target robot for executing the subtasks according to a preset screening rule, wherein the screening rule is as follows:
the task content is matched with the function of the target robot;
and selecting the target robot according to the robot priority and the task priority.
Further, in the robot task scheduling method, the state grade is determined according to the health state, energy consumption and working efficiency of the robot.
Further, the above robot task scheduling method, wherein, after the step of allocating the target robot and the corresponding subtask to the scheduling end of the work area to which the subtask belongs, the method further includes:
when material request information aiming at other operation areas sent by a scheduling end of a current operation area is obtained, the scheduling information is sent to the scheduling ends of the other operation areas, so that the scheduling ends of the other operation areas call a target robot executing the short-term type subtasks in the operation area to transfer the requested materials to a preset transfer point.
Further, the robot task scheduling method, wherein the step of sending the scheduling information to the scheduling end of the other work area further includes:
judging whether a target robot for executing the short-term type subtasks is distributed to the dispatching ends of the other operation areas;
if so, executing the step of sending scheduling information to the scheduling end of the other operation area;
and if not, sending a scheduling task to an idle robot so as to enable the idle robot to move to the other operation areas and transfer the requested materials to a preset transfer point.
Further, in the robot task scheduling method, the step of allocating the target robot and the corresponding subtask to the scheduling end of the work area to which the subtask belongs includes:
and sending the configuration information of the target robot and the corresponding subtasks to a scheduling end of an operation area to which the subtasks belong, so that the scheduling end configures the target robot and the subtasks.
Further, in the robot task scheduling method, the step of the scheduling terminal planning the traveling route of the target robot allocated to the scheduling terminal in the work area includes:
the dispatching end marks all position marking points of the area according to the actual environment, establishes an area map, and forms a topological graph structure by data extraction and conversion of the area map;
and the scheduling end plans an optimal driving route by utilizing a Dijkstra algorithm and the topological graph.
The invention also discloses a robot task scheduling device, which is applied to the master control end, the master control end is electrically connected with the scheduling ends of a plurality of operation areas, the robot task scheduling device comprises,
the task dividing module is used for acquiring a production task and dividing the production task into a plurality of subtasks;
the determining module is used for determining the task types of the subtasks according to the task contents of the subtasks, and determining a target robot for executing the subtasks according to the task types of the subtasks and basic information of a current idle robot, wherein the task types comprise a long-term type and a short-term type, the basic information comprises a function and a state grade, and the state grade is used for representing the state good degree of the robot;
and the distribution module is used for determining the operation area to which each subtask belongs, distributing the target robot and the corresponding subtask to the scheduling end of the operation area to which the subtask belongs, so that the scheduling end plans the running route of the distributed target robot in the operation area and controls the distributed target robot to execute the corresponding subtask.
Further, the robot task scheduling apparatus further includes:
and the sending module is used for sending scheduling information to the scheduling ends of other operation areas when the material request information aiming at other operation areas sent by the scheduling end of the current operation area is obtained, so that the scheduling ends of other operation areas call the target robot executing the short-term subtasks in the operation area to transfer the requested materials to a preset transfer point.
Further, the robot task scheduling device further includes:
the judging module is used for judging whether the target robot for executing the short-term subtasks is distributed to the dispatching ends of the other operation areas; if so, the sending module executes the step of sending the scheduling information to the scheduling end of the other operation area; if not, the sending module sends a scheduling task to an idle robot so that the idle robot moves to the other operation areas and transfers the requested materials to a preset transfer point.
The invention also discloses an electronic device comprising a memory and a processor, wherein the memory stores a program, and the program realizes any one of the methods when being executed by the processor.
The invention also discloses a computer readable storage medium having a program stored thereon, which when executed by a processor implements any of the methods described above.
In the invention, the dispatching end of each operation area controls the target robot of each area, so that the control difficulty can be reduced, the working efficiency of the robot of each operation area is greatly improved, and the production efficiency is improved. And the target robots in each operation area navigate in each area, so that the navigation path overlapping can be avoided, congestion is prevented, and the method is suitable for large-scale popularization and use.
Drawings
Fig. 1 is a flowchart of a robot task scheduling method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a robot task scheduling method according to a second embodiment of the present invention;
fig. 3 is a block diagram showing a robot task scheduling apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
These and other aspects of embodiments of the invention will be apparent with reference to the following description and attached drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the ways in which the principles of the embodiments of the invention may be practiced, but it is understood that the scope of the embodiments of the invention is not limited correspondingly. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
The robot task scheduling method in the embodiment of the invention is mainly suitable for scheduling multiple robots in a large-scale production workshop under the scene of complex production tasks. Generally, a large production workshop has many processes, a related working area is large, a terrain, an obstacle and the like are complex, and if one control end is used for carrying out route navigation and control on all robots, the task scheduling difficulty of the control end is large. And a plurality of robots run in a large area, self-locking, blocking and other phenomena are easy to occur, and the production efficiency of a factory is reduced. In order to solve the problem, the working area of the workshop is divided into a plurality of working areas, each working area is correspondingly provided with a scheduling end, and the scheduling ends can realize task scheduling of the robot in the working area. The dispatching ends of all the operation areas are electrically connected with a master control end, the master control end is used for coordinating and managing all the dispatching ends, and robot configuration, task configuration and other operations are carried out on all the dispatching ends.
It will be appreciated that one production task may require one or more production areas, and that different production tasks may involve different work areas. The master control end can well allocate the work tasks of the scheduling ends of all the operation areas, so that the robot can be reasonably utilized, and the task execution efficiency is improved.
Referring to fig. 1, a robot task scheduling method according to a first embodiment of the present invention includes steps S11 to S13.
Step S11, acquiring a production task, and dividing the production task into a plurality of subtasks.
When the master control end obtains a production task, the production task can be divided into a plurality of subtasks according to the operation content of the production task and each operation area related to the production task. For example, a production task is a material distribution task, and after the material distribution task is decomposed, the material can be transported from one station to another station to serve as a subtask, or a plurality of materials can be transported from a warehouse to a certain station or a plurality of stations to serve as a subtask.
It should be noted that the production task is not limited to the material distribution task, and may be one or a combination of more of order processing, part assembly, and the like.
And S12, determining the task types of the subtasks according to the task contents of the subtasks, and determining a target robot for executing the subtasks according to the task types of the subtasks and the basic information of the current idle robot. The task type comprises a long-term type and a short-term type, and the basic information comprises a function and a state grade, wherein the state grade is used for indicating the state goodness of the robot.
In an actual production process, a production workshop is usually configured with a plurality of robots, and after a master control end divides a received production task into a plurality of subtasks, a target robot for executing each subtask needs to be determined, that is, each subtask obtained by division is allocated to each target robot for execution.
It is understood that the target robot for performing each subtask may be randomly selected from the idle robots, or may be selected from the idle robots based on the principle of the most efficient or least time consuming task. Specifically, in the present embodiment, the target robot for executing each subtask is determined according to the task type of each subtask and the basic information of the currently idle robot, so as to complete the production task efficiently.
Specifically, the master control end determines the task type of each subtask according to the task content of each subtask, and the task type is divided into a long-term type and a short-term type. The long-term type task means that the task needs to be executed for a long time, and the task cannot miss the specified time limit of the task, so that the time is strictly controlled. The short-term type of task is not strictly time-constrained, and may be, for example, some sporadic tasks.
And the master control end inquires the current idle robot and acquires the basic information of each idle robot. It is understood that the basic information of each robot can be stored in the master control terminal in advance. The basic information includes at least the function and status level of the robot. The state grade reflects the good degree of the current overall state of the robot, and can be determined by the factors of the health state, the energy consumption, the working efficiency and the like of the robot, wherein the health state is better, the energy consumption is lower, the working efficiency is higher, and the state grade is higher. Wherein the health status is related to the performance and the service life of the robot. The function of the robot depends on the nature of the work that the robot can perform, such as a transport function robot, an electric welding function robot, a cleaning function robot, a punching function robot, and so forth. A plurality of robots of each function may be provided, and one robot may have a plurality of functions at the same time.
Specifically, in one embodiment of the present invention, the step of determining the target robot for executing the subtasks according to the task type of each subtask and the basic information of the currently idle robot includes:
determining the priority of each idle robot according to the state grade of the robot, and determining the task priority of each subtask according to the task type, wherein the subtask priority of the long-term type is higher than that of the short-term type;
determining a target robot for executing the subtasks according to a preset screening rule, wherein the screening rule is as follows:
the task content is matched with the function of the target robot;
and selecting the target robot according to the robot priority and the task priority.
And the master control end determines the target robot for executing each subtask according to the basic information of each idle robot, the task type of the subtask and a preset screening rule. The screening rule is as follows: firstly, the functions of the robot are required to be in accordance with subtasks, for example, transportation tasks need to be distributed to the logistics robot; second, when selecting a target robot for performing each subtask, the robot priority order and the task priority order are to be followed. The priority of the robot is determined according to the state grade of the robot, the higher the state grade is, the higher the priority is, the priority is distributed preferentially, the robot which executes each subtask is guaranteed to be the robot with the optimal performance and the highest efficiency, and the production efficiency is improved. The task priority is determined according to a task type, wherein the subtask priority of the long-term type is higher than that of the short-term type. The subtasks with high task priority are preferentially distributed to the idle robots with high robot priority, so that long-term subtasks can be completed better, and the overall working efficiency is improved.
In specific implementation, the idle robots can be classified according to the robot functions, then the idle robots with each type of functions are sorted from high to low according to the robot priority, and then the subtasks are assigned to the idle robots with the corresponding functions according to the task priority.
And S13, determining the operation area to which each subtask belongs, and allocating the target robot and the corresponding subtask to a scheduling end of the operation area to which the subtask belongs, so that the scheduling end plans the traveling route of the allocated target robot in the operation area and controls the allocated target robot to execute the corresponding subtask.
In general, when the working areas of a production plant are arranged, facilities (such as stations, material storage places, and the like) related to the working contents are arranged in a centralized manner, so that the working areas are divided better, and each working area is separated as independently as possible. Each subtask is also distinguished according to the operation area, and the area attribute is determined according to the operation area to which the subtask belongs. In general, it is guaranteed that one subtask is completed in one job section as much as possible, and therefore, the area attribute of the subtask is the job area to which the subtask belongs.
And allocating each subtask and the corresponding target robot to a scheduling end of the working area to which the subtask belongs, namely, one scheduling end manages the subtask and the target robot of one working area. For example, if the area attribute of the subtask R1 is a and the robot to be assigned is J1, the subtask R1 and the robot J1 are assigned to the scheduling end D1 of the work area a. And after the assignment of the subtasks and the target robots is finished, each target robot moves to a designated place corresponding to the operation area to wait for the control of the dispatching end.
Further, in one embodiment of the present invention, the step of allocating the target robot and the corresponding subtask to a scheduling end of a work area to which the subtask belongs includes:
and sending the configuration information of the target robot and the corresponding subtasks to a scheduling end of an operation area to which the subtasks belong, so that the scheduling end configures the target robot and the subtasks.
And the dispatching end configures the configuration information of the target robot in the system of the dispatching end so as to establish communication connection with the target robot. After the robot is started to be connected with the network, the robot can communicate with the dispatching end through an http protocol. It can be understood that, when the scheduling end receives the configuration information of each target robot and the corresponding subtask, the corresponding relationship between the target robot and the subtask is established, so as to control each target robot to execute the corresponding subtask.
Furthermore, when the dispatching end controls the target robot to execute the subtasks, firstly, marking all position marking points of the area according to the actual environment, establishing an area map, extracting and converting the area map through data to form a topological graph structure, and then planning the optimal driving route of the target robot in the operation area by using a Dijkstra algorithm and the topological graph. And the scheduling end sends the planned driving route to the target robot so as to complete the corresponding subtasks.
In this embodiment, the dispatch terminal in each operation area controls the target robot in each area, not only can reduce the control degree of difficulty, has promoted the work efficiency of the robot in each operation area simultaneously by a wide margin, improves production efficiency. And the target robots in each operation area navigate in each area, so that the navigation path overlapping can be avoided, congestion is prevented, and the method is suitable for large-scale popularization and use.
Referring to fig. 2, a robot task scheduling method in a second embodiment of the present invention is applied to a master control end, where the master control end is electrically connected to scheduling ends of a plurality of operation areas, and the robot task scheduling method includes steps S21 to S26.
Step S21, acquiring a production task, and dividing the production task into a plurality of subtasks.
In this embodiment, the production task is a material distribution task, and when the logistics distribution task is acquired by the master control end, the production task is divided into a plurality of sub-tasks for logistics transportation according to the operation content of the logistics distribution task.
And S22, determining the task types of the subtasks according to the task contents of the subtasks, and determining a target robot for executing the subtasks according to the task types of the subtasks and the basic information of the current idle robot. The task types comprise a long-term type and a short-term type, the long-term type subtask is a task which needs to be executed for a long time and has a task specified time limit requirement, the short-term type subtask is a task without time limit, the basic information comprises a function and a state grade, and the state grade is used for representing the state goodness of the robot.
In the embodiment, the material distribution task is mainly completed, so that the logistics robot is mainly used. And the master control end determines the target robot for executing each subtask according to the basic information of each idle robot, the task type of the subtask and a preset screening rule. The screening rule is as follows: firstly, the functions of the robot are required to be in accordance with subtasks, for example, transportation tasks need to be distributed to the logistics robot; second, when selecting a target robot for executing each subtask, the robot priority order and the task priority order are followed. The priority of the robot is determined according to the state grade of the robot, the higher the state grade is, the higher the priority is, the priority is distributed preferentially, the robot which executes tasks is guaranteed to be the robot with the optimal performance and the highest efficiency, and the production efficiency is improved. The task priority is determined according to a task type, wherein a subtask of the long-term type has a higher priority than a subtask of the short-term type. The subtasks with high task priority are preferentially distributed to the idle robots with high robot priority, so that long-term subtasks can be completed better, and the overall working efficiency is improved.
Step S23, determining the operation area to which each subtask belongs, and allocating the target robot and the corresponding subtask to the scheduling end of the operation area to which the subtask belongs, so that the scheduling end plans the traveling route of the allocated target robot in the operation area and controls the allocated target robot to execute the corresponding subtask.
Each subtask is also distinguished according to the operation area, and the area attribute is determined according to the operation area to which the subtask belongs. In most cases, a subtask is completed in one job section, and thus the area attribute of the subtask is a job area to which the subtask belongs. In special cases, a subtask may need to be completed across the work area, and if material transportation needs to span both work areas a and B, the area attribute may be either of a and B.
And distributing each subtask and the corresponding target robot to a dispatching end of the working area to which the subtask belongs, namely, one dispatching end manages the subtask and the target robot of one working area. For example, if the area attribute of the subtask R1 is a and the assigned robot is J1, the subtask R1 and the robot J1 are assigned to the scheduling end D1 of the work area a. And after the assignment of the subtasks and the target robots is finished, each target robot moves to a designated place corresponding to the operation area to wait for the control of the dispatching end.
It can be understood that, due to the difference of the terrain, environment, obstacles and the like of each operation area of the production workshop, the robot in each operation area can adopt different navigation algorithms for navigation, and the flexibility is higher, for example, a laser navigation mode or a two-dimensional code navigation mode can be adopted. Under different navigation modes, the navigation paths are required to be not overlapped, and error report caused by intersection is avoided.
And S24, when the material request information aiming at other operation areas and sent by the scheduling end of the current operation area is acquired, judging whether the scheduling end of the other operation areas is allocated with a target robot for executing the short-term type subtasks.
And S25, if so, sending scheduling information to the scheduling ends of the other operation areas so that the scheduling ends of the other operation areas call the target robot executing the short-term subtasks in the operation area to transfer the requested materials to a preset transfer point.
And S26, if not, sending a scheduling task to an idle robot so that the idle robot moves to the other operation areas and transfers the requested material to a preset transfer point.
When there is the subtask that needs to cross regional completion, in order to avoid meeting the robot intersection and cause the newspaper mistake, this embodiment has set up fixed predetermined transfer point to as the connection position. When the target robot J1 of the current operation area A executes a subtask to acquire materials in the operation area B and transport the materials to a station of the area A, the scheduling end of the area A sends material request information aiming at the operation area B to the master control end. And after receiving the request, the master control end informs a dispatching end in the operation area B to dispatch a robot executing a short-term type subtask to transport the material to the connection position. After the materials are transferred to the receiving positions, the master control end informs the dispatching end of the operation area A to control the target robot J1 to receive and transfer the materials. Therefore, mixed scheduling tasks in different areas are realized, errors are avoided, and the transportation efficiency is improved.
The robot for executing the short-term tasks has no strict time limit and can be used for completing some temporary tasks, therefore, the dispatching end of the working area B can call the target robot for executing the short-term type subtasks in the area to transfer materials, and the robot in the working area can be fully utilized in the mode, so that the utilization rate of the robot is improved.
It is understood that when there is no target robot in the work area B performing the short-term type subtask, a scheduling task may be sent to any idle robot, so that the idle robot moves to the other area and transfers the requested material to the predetermined transfer point.
In order to avoid route crossing, the whole operation area is divided into areas, the robots of each area task plan paths in small areas, and when the robot in a certain area needs to go to materials in other areas, the robot in the other areas transports the materials to a designated place and then gets the materials. Therefore, mixed scheduling tasks of different operation areas are realized, errors are avoided, and the transportation efficiency is improved.
Referring to fig. 3, a robot task scheduling device according to a third embodiment of the present invention is applied to a master control end, the master control end is electrically connected to scheduling ends of a plurality of working areas, the robot task scheduling device includes,
the task dividing module 31 is configured to obtain a production task and divide the production task into a plurality of subtasks;
a determining module 32, configured to determine task types of the subtasks according to task contents of the subtasks, and determine a target robot for executing the subtasks according to the task type of each subtask and basic information of a currently idle robot, where the task types include a long-term type and a short-term type, the basic information includes a function and a status level, and the status level is used to indicate a status goodness of the robot;
and an allocating module 33, configured to determine a working area to which each of the subtasks belongs, and allocate the target robot and the corresponding subtask to a scheduling end of the working area to which the subtask belongs, so that the scheduling end plans a traveling route of the allocated target robot in the working area and controls the allocated target robot to execute the corresponding subtask.
Further, the robot task scheduling device further includes:
and the sending module is used for sending scheduling information to the scheduling ends of other operation areas when the material request information which is sent by the scheduling end of the current operation area and aims at the other operation areas is obtained, so that the scheduling ends of the other operation areas call the target robots which execute the short-term type subtasks in the operation areas to transfer the requested materials to preset transfer points.
Further, the robot task scheduling device further includes:
the judging module is used for judging whether the target robot for executing the short-term subtasks is distributed to the dispatching ends of the other operation areas; if yes, the sending module executes the step of sending the scheduling information to the scheduling end of the other operation area; if not, the sending module sends a scheduling task to an idle robot so that the idle robot moves to the other operation areas and transfers the requested materials to a preset transfer point.
The robot task scheduling device provided in the embodiment of the present invention has the same implementation principle and the same technical effects as those of the foregoing method embodiment, and for brief description, reference may be made to corresponding contents in the foregoing method embodiment where no mention is made in part of the device embodiment.
Referring to fig. 4, an electronic device according to an embodiment of the present invention is further provided, which includes a processor 10, a memory 20, and a computer program 30 stored in the memory and executable on the processor, where the processor 10 executes the computer program 30 to implement the robot task scheduling method.
The electronic device may be, but is not limited to, a personal computer, a server, and the like. Processor 10 may be, in some embodiments, a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip that executes program code or processes data stored in memory 20, or the like.
The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal storage unit of the electronic device, for example a hard disk of the electronic device. The memory 20 may also be an external storage device of the electronic device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device. Further, the memory 20 may also include both an internal storage unit and an external storage device of the electronic apparatus. The memory 20 may be used not only to store application software installed in the electronic device, various types of data, and the like, but also to temporarily store data that has been output or is to be output.
Optionally, the electronic device may further comprise a user interface, a network interface, a communication bus, etc., the user interface may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may further comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable, among other things, for displaying information processed in the electronic device and for displaying a visualized user interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), typically used to establish a communication link between the device and other electronic devices. The communication bus is used to enable connection communication between these components.
It should be noted that the configuration shown in fig. 4 does not constitute a limitation of the electronic device, and in other embodiments the electronic device may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.
The invention also proposes a computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, implements the robot task scheduling method as described above.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus (e.g., a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or execute the instructions). For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. A robot task scheduling method is applied to a master control end which is electrically connected with scheduling ends of a plurality of operation areas, and comprises the following steps,
acquiring a production task, and dividing the production task into a plurality of subtasks;
determining task types of the subtasks according to task contents of the subtasks, and determining a target robot for executing the subtasks according to the task types of the subtasks and basic information of a currently idle robot, wherein the task types comprise a long-term type and a short-term type, the basic information comprises a function and a state grade, and the state grade is used for representing the state goodness of the robot;
determining a working area to which each subtask belongs, and allocating the target robot and the corresponding subtask to a scheduling end of the working area to which the subtask belongs, so that the scheduling end plans a driving route of the allocated target robot in the working area and controls the allocated target robot to execute the corresponding subtask;
the step of determining a target robot for executing the subtasks according to the task type of each subtask and basic information of the currently idle robot comprises the following steps:
determining the priority of each idle robot according to the state grade of the robot, and determining the task priority of each subtask according to the task type, wherein the priority of the subtask of the long-term type is higher than that of the short-term type;
determining a target robot for executing the subtasks according to a preset screening rule, wherein the screening rule is as follows:
the task content is matched with the function of the target robot;
and selecting the target robot according to the robot priority and the task priority.
2. A robot task scheduling method according to claim 1, wherein the status level is determined according to a health status, energy consumption and work efficiency of the robot.
3. The robot task scheduling method according to claim 1, wherein the step of assigning the target robot and the corresponding subtask to a scheduling end of a work area to which the subtask belongs further includes, after the step of:
when material request information aiming at other operation areas sent by a scheduling end of a current operation area is obtained, the scheduling information is sent to the scheduling ends of the other operation areas, so that the scheduling ends of the other operation areas call a target robot executing the short-term type subtasks in the operation area to transfer the requested materials to a preset transfer point.
4. A robot task scheduling method according to claim 3, wherein the step of sending the scheduling information to the scheduling side of the other work area further comprises, before the step of sending the scheduling information to the scheduling side of the other work area:
judging whether a target robot for executing the short-term type subtasks is distributed to the scheduling ends of the other operation areas;
if yes, executing the step of sending scheduling information to scheduling ends of other operation areas;
and if not, sending a scheduling task to an idle robot so as to enable the idle robot to move to the other operation areas and transfer the requested materials to a preset transfer point.
5. The robot task scheduling method according to claim 1, wherein the step of assigning the target robot and the corresponding subtask to a scheduling end of a work area to which the subtask belongs includes:
and sending the configuration information of the target robot and the corresponding subtasks to a scheduling end of an operation area to which the subtasks belong, so that the scheduling end configures the target robot and the subtasks.
6. The robot task scheduling method according to claim 1, wherein the step of the scheduling terminal planning the travel route of the target robot allocated to the local working area includes:
the dispatching end marks all position marking points of the area according to the actual environment, establishes an area map, and forms a topological graph structure by data extraction and conversion of the area map;
and the scheduling end plans an optimal driving route by utilizing a Dijkstra algorithm and the topological graph.
7. A robot task scheduling device is characterized by being applied to a master control end, the master control end is electrically connected with scheduling ends of a plurality of operation areas, the robot task scheduling device comprises,
the task dividing module is used for acquiring a production task and dividing the production task into a plurality of subtasks;
the determining module is used for determining the task types of the subtasks according to the task contents of the subtasks, and determining a target robot for executing the subtasks according to the task types of the subtasks and basic information of a currently idle robot, wherein the task types comprise a long-term type and a short-term type, the basic information comprises a function and a state grade, and the state grade is used for representing the state goodness of the robot;
the distribution module is used for determining the operation area to which each subtask belongs, and distributing the target robot and the corresponding subtask to a scheduling end of the operation area to which the subtask belongs, so that the scheduling end plans the running route of the distributed target robot in the operation area and controls the distributed target robot to execute the corresponding subtask;
the step of determining the target robot for executing the subtasks according to the task type of each subtask and the basic information of the current idle robot comprises the following steps:
determining the priority of each idle robot according to the state grade of the robot, and determining the task priority of each subtask according to the task type, wherein the priority of the subtask of the long-term type is higher than that of the short-term type;
determining a target robot for executing the subtasks according to a preset screening rule, wherein the screening rule is as follows:
the task content is matched with the function of the target robot;
and selecting the target robot according to the robot priority and the task priority.
8. An electronic device, comprising a memory and a processor, the memory storing a program which, when executed by the processor, implements the robot task scheduling method according to any of claims 1-6.
9. A computer-readable storage medium, on which a program is stored, which, when being executed by a processor, carries out the robot task scheduling method according to any one of claims 1 to 6.
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