CN115391052A

CN115391052A - Robot task processing method and device, electronic equipment and storage medium

Info

Publication number: CN115391052A
Application number: CN202211314566.2A
Authority: CN
Inventors: 黄泽; 周启学; 李翔远
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2022-11-25
Anticipated expiration: 2042-10-26
Also published as: CN115391052B

Abstract

The invention discloses a robot task processing method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The specific implementation scheme comprises the following steps: responding to a task query instruction, and accessing a task sequencing file; selecting a preset number of target timing tasks from the task sequencing file; judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task; and if so, retrieving task execution parameters of the target timing task from the database according to the task identifier of the target timing task, and executing the target timing task according to the task execution parameters. The scheme of the invention determines the timing tasks to be executed by inquiring the task sequencing file, so that the database does not need to sequence the stored timing tasks during each inquiry, thereby reducing the pressure of the database.

Description

Robot task processing method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of robotics, and in particular, to a method and an apparatus for processing a robot task, an electronic device, and a storage medium.

Background

With the rapid development of the robot industry, various service robots emerge endlessly, and the robots are widely applied in life and work.

The number and the use scale of the robots are increased, a plurality of timed tasks of the robots need to be processed, and the current common processing method comprises the following steps: and all the timing tasks are written into a background database, and the database needs to sort the stored total number of timing tasks and then selects the timing task with the former execution time for processing when the background inquires each time.

However, this approach has certain disadvantages: due to the fact that the number of the timing tasks is large, the database needs to sequence a large number of timing tasks each time background query is conducted, huge pressure is caused on the database, and even other businesses of the robot are affected.

Disclosure of Invention

The invention provides a robot task processing method and device, electronic equipment and a storage medium, which are used for reducing huge pressure on a database caused by processing a timed task of a robot.

According to an aspect of the present invention, there is provided a robot task processing method including:

responding to a task query instruction, and accessing a task sequencing file; the task sequencing file is used for storing task identifiers and task execution times of the timing tasks and sequencing the stored timing tasks according to the task execution times;

selecting a preset number of target timing tasks from the task sequencing file;

judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task;

if yes, retrieving task execution parameters of the target timing task from a database according to the task identification of the target timing task, and executing the target timing task according to the task execution parameters; the database is used for at least storing task identifiers and task execution parameters of the timing tasks.

According to another aspect of the present invention, there is provided a robot task processing apparatus including:

the access module is used for responding to the task query instruction and accessing the task sequencing file; the task ordering file is used for storing task identifiers and task execution times of the timing tasks and ordering the stored timing tasks according to the task execution times;

the screening module is used for selecting a preset number of target timing tasks from the task sequencing file;

the judging module is used for judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task;

the execution module is used for retrieving task execution parameters of the target timing task from the database according to the task identifier of the target timing task and executing the target timing task according to the task execution parameters if the judgment result is satisfied; the database is used for at least storing task identification and task execution parameters of the timing task.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

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

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the robot task processing method according to an embodiment of the present invention.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a robot task processing method according to an embodiment of the present invention when the computer instructions are executed.

According to the technical scheme of the embodiment of the invention, the timing task to be executed can be determined only by accessing the task sequencing file every time, so that the database does not need to sequence the stored timing task every time of query, and the pressure of the database can be reduced.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flow chart of a robot task processing method according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a robot task processing method according to a second embodiment of the present invention;

fig. 3 is a schematic flow chart of a robot task processing method according to a third embodiment of the present invention;

fig. 4a is a schematic flowchart of a robot task processing method according to a fourth embodiment of the present invention;

FIG. 4b is a diagram of a task ranking file according to a fourth embodiment of the present invention;

fig. 5 is a schematic flowchart of a robot task processing method according to a fifth embodiment of the present invention;

fig. 6 is a schematic flow chart of a robot task processing method according to a sixth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a robot task processing device according to a seventh embodiment of the present invention;

fig. 8 is a schematic structural diagram of an electronic device of a robot task processing method according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

At present, with the increase of the types and the number of robots, the number of robot timing tasks to be executed is huge. For example, there are tens of thousands of robot manufacturers that produce at least ten thousand upgrade timing tasks if they need to perform a timed system upgrade.

The currently common treatment methods are: and all the timing tasks are written into a background database, and the database needs to sequence the stored full amount of timing tasks each time of query, and then selects the timing tasks with the earlier execution time to process. Due to the fact that the number of timed tasks of the robot is large, the timed tasks are sequenced every time, and huge pressure is caused on a database.

In order to reduce the influence on the database, the scheme of the invention establishes a task sequencing file, saves the task identifier and the task execution time of the timing task through the task sequencing file, and sequences the saved timing task according to the task execution time; meanwhile, the task execution parameters of the timing task and the like are stored in a database. That is, the task sequencing file does not contain specific task execution parameters. Generally, the data size occupied by the task identifier and the task execution time is small, and the data size occupied by the task execution parameter is large. Therefore, the sequencing of the timing tasks can be determined through the task sequencing file, so that only the timing tasks are stored in the database without sequencing, namely the timing tasks with large data volume and containing specific task execution parameters are not required to be sequenced when being inquired at the background every time, and the pressure of the database can be reduced. Specifically, the flow of the robot task processing method of the present invention can be seen in the following embodiments.

Example one

Fig. 1 is a flowchart of a robot task processing method according to an embodiment of the present invention, where the present embodiment is applicable to processing a situation where a timed task of a robot is frequently initiated and executed, and the method may be executed by a robot task processing device, where the robot task processing device may be implemented in a form of hardware and/or software, and the robot task processing device may be configured in an electronic device.

As shown in fig. 1, the robot task processing method has the following flows:

s101, responding to a task query instruction, and accessing a task sequencing file; the task ordering file is used for storing the task identifier and the task execution time of the timing task and ordering the stored timing task according to the task execution time.

In this embodiment, after the task sequencing file is constructed for the first time, task identifiers (for example, task IDs) and task execution times (that is, next execution times, which may be represented in a form of a timestamp) of all timing tasks initiated by a user, a robot, or a system are written into the task sequencing file, and then the task sequencing file sequences the timing tasks according to the task execution times and in a sequence from first to last. On the basis, in response to a task query instruction generated periodically, the robot background is responsible for executing or issuing the instruction so that the program or service of the robot for executing the timing task can search the timing task to be executed from the task sequencing file only by accessing the task sequencing file. It should be noted here that the timing task in the solution of the present invention is at least one of a disinfection task, a distribution task, a recovery task, a cruise task, a cleaning task, a guidance task, and an upgrade task. That is, the technical solution provided by the present invention can be applied to the unified management and execution of various timed tasks of various types of robots, which can be delivery robots, guidance robots, cleaning robots, etc. Therefore, the technical scheme of the invention is particularly suitable for the timed task management of multiple types and large number of robots, and can improve the overall management.

And S102, selecting a preset number of target timing tasks from the task sequencing file.

In this embodiment, the preset number may be set according to actual needs. Since the task sequencing file sequences the saved timed tasks, N timed tasks with the earlier task execution time can be selected as target timed tasks, wherein N can be set as required. For example, the number of robots currently managed by the background server, the processing capacity of the server, and the generation period of the task query instruction may be determined in combination. When the generation cycle of the task query instruction is long, the number of robots is large, and the processing capacity of the server is high, N can be set to be a large value, for example, 100, so that the processing efficiency of the timing task is improved, and a large amount of overstocked timing tasks is avoided.

S103, judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task.

In this embodiment, although a plurality of target timing tasks are selected in step S102, each target timing task does not necessarily need to be executed immediately, and therefore it is necessary to determine whether or not the target timing task satisfies a task execution condition. In an alternative embodiment, whether the target timing task meets the task execution condition may be determined according to the task execution time of the target timing task. Specifically, whether the task execution time of the target timing task is after the current time is judged, if not, the fact that the execution time of the target timing task is not reached is indicated, and at the moment, the target timing task does not meet the task execution condition; if not, the execution time of the target timing task is earlier than or equal to the current time, and the target timing task needs to be executed immediately, namely the target timing task is determined to meet the task execution condition. In addition, it may also be determined whether the target timing task satisfies the task execution condition in combination with the current state of the robot, for example, for the selected target timing task, if the robot is currently in a busy state, it is determined that the selected target timing task does not satisfy the task execution condition. It should be noted that the reason why the execution time of the target timed task is earlier than the current time is that the robot is busy when the target timed task is executed before, so that the execution time of the target timed task is delayed and is earlier than the current time.

After determining that the target timed task satisfies the task execution condition, the target timed task may be executed through the step of S104.

S104, according to the task identification of the target timing task, retrieving task execution parameters of the target timing task from the database, and executing the target timing task according to the task execution parameters.

In this embodiment, the database is configured to at least store a task identifier and a task execution parameter of a timing task, where the task execution parameter is optionally an operation parameter required for executing the task; for example, the task execution parameter may be to execute a disinfection/cruising/guiding task from point a to point B, and may also be to which charging pile to execute, how long to last the charging task, or to execute an update package of which address to access for software upgrade, and the like. Therefore, the task execution parameters of the target timing task can be obtained only by searching in the database according to the task identifier of the target timing task, and the corresponding target timing task is executed according to the task execution parameters.

In the embodiment of the invention, a task sequencing file is constructed in advance, the task identifier and the task execution time of the timing task are stored through the task sequencing file, and the stored timing task is sequenced according to the task execution time; and meanwhile, the task identification, the task execution parameters and the like of the timing task are stored in a database. That is, the task ordering file does not contain specific task execution parameters. Generally, the data size occupied by the task identifier and the task execution time is small, and the data size occupied by the task execution parameter is large. Therefore, sequencing of the timing tasks can be determined through the task sequencing file, so that only the timing tasks are stored in the database without sequencing, namely the timing tasks with large data volume and containing specific task execution parameters are not required to be sequenced when being inquired at the background every time, and the pressure of the database can be reduced; and after the target timing task is determined to meet the execution condition, the required task execution parameters can be quickly acquired from the database only according to the task identifier of the target timing task.

Example two

Fig. 2 is a flowchart of a robot task processing method according to a second embodiment of the present invention. On the basis, referring to fig. 2, the method flow comprises the following steps:

s201, responding to a task query instruction, and accessing a task sequencing file; the task ordering file is used for storing the task identifier and the task execution time of the timing task and ordering the stored timing task according to the task execution time.

In an alternative embodiment, the task ordering file stores the ordered timing tasks in a tree structure, for example, in a form of a complete binary tree; each task node of the tree structure represents a timing task, and a task identifier and a task execution time of the timing task are stored in the task node. It should be noted that the task sequencing file arranges the timing tasks according to a small top heap format, so that the execution time of the timing task corresponding to the root node of the tree structure is the earliest, the task execution time of the upper layer task node is smaller than that of the lower layer task node, and the task execution times of the task nodes in the same layer are sequentially increased from left to right.

In the embodiment of the invention, the timing task belongs to a robot task and can be at least one of a disinfection task, a distribution task, a recovery task, a cruise task, a cleaning task, a guide task and an upgrading task.

S202, selecting a preset number of target timing tasks from the task sequencing file.

Optionally, the N timing tasks with the task execution time earlier in the task sequencing file are used as the target timing tasks.

And S203, judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task.

In an optional implementation manner, determining whether the target timed task satisfies the task execution condition according to the task execution time of the target timed task includes: and judging whether the task execution time of the target timing task is after the current time, and if not, determining that the target timing task meets the task execution condition.

In the present embodiment, in the case where it is determined that the target timing task satisfies the task execution condition, the steps of S204 and S205 are executed in parallel.

S204, according to the task identification of the target timing task, retrieving task execution parameters of the target timing task from a database, and executing the target timing task according to the task execution parameters; the database is used for at least storing task identification and task execution parameters of the timing task.

For a specific process, refer to the description of the above embodiments, which are not repeated herein.

And S205, deleting the task nodes which represent the target timing task in the task sequencing file, and triggering the task sequencing file to reorder the rest task nodes.

In this embodiment, after it is determined that the target timing task satisfies the task execution condition, the target timing task is inevitably executed, and at this time, the task node corresponding to the target timing task needs to be deleted from the task ranking file, so as to ensure that all the tasks stored in the task ranking file are unexecuted timing tasks. And after the task node representing the target timing task in the task sequencing file is deleted, the task sequencing file reorders the rest task nodes so that when other programs or services in charge of executing the timing task access the task sequencing file, the timing task with the front execution time can be quickly and accurately determined.

In this embodiment, under the condition that it is determined that the target timing task satisfies the task execution condition, the task ordering file is triggered to delete the task node corresponding to the target timing task satisfying the execution condition, and the remaining task nodes are reordered, so that it can be ensured that when other programs or services access the task ordering file, the target timing task with the earlier execution time can be determined quickly and accurately.

EXAMPLE III

Fig. 3 is a flowchart of a robot task processing method according to a third embodiment of the present invention. Referring to fig. 3, the process flow of the method includes the following steps:

s301, responding to a task query instruction, accessing a task sorting file, and adding a file lock for the task sorting file; the task ordering file is used for storing the task identifier and the task execution time of the timing task and ordering the stored timing task according to the task execution time.

In an alternative embodiment, the task ordering file stores the ordered timing tasks in a tree structure, for example, in a form of a complete binary tree; each task node of the tree structure represents a timing task, and a task identifier and a task execution time of the timing task are stored in the task node. It should be noted that the task sequencing file arranges the timing tasks according to a small top heap format, so that the execution time of the timing task corresponding to the root node of the tree structure is the earliest, the task execution time of the upper layer task node is smaller than that of the lower layer task node, and the task execution times of the task nodes in the same layer are sequentially increased from left to right. The timed task belongs to a robot task and can be at least one of a disinfection task, a distribution task, a recovery task, a cruising task, a cleaning task, a guiding task and an upgrading task.

As can be seen from the second embodiment, when one of the task scheduling files is used for executing the timed task program or the service access task scheduling file and a target timed task meeting the execution condition is selected, the task scheduling file is triggered to delete the corresponding task node, and the remaining task nodes are reordered. Therefore, if a plurality of programs or services access the task sequencing file at the same time, and trigger the task sequencing file to delete the corresponding task node in parallel, and reorder the remaining task nodes, the data in the task sequencing file may be confused, which may seriously affect the search of the timing task with the earlier execution time. Therefore, in this embodiment, when one program or service for executing the timed task accesses the task sorting file, a file lock is added to the task sorting file, where the file lock is used to prevent the task sorting file from being accessed by multiple programs or services at the same time, so that data confusion can be avoided, and stability in searching and executing can be improved.

S302, selecting a preset number of target timing tasks from the task sequencing file.

And S303, judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task.

In an optional implementation manner, determining whether the target timing task satisfies a task execution condition according to the task execution time of the target timing task includes: and judging whether the task execution time of the target timing task is after the current time, and if not, determining that the target timing task meets the task execution condition.

In the case where it is determined that the target timed task satisfies the task execution condition, the steps of S304 and S305-S306 are executed in parallel.

S304, according to the task identification of the target timing task, retrieving task execution parameters of the target timing task from a database, and executing the target timing task according to the task execution parameters; the database is used for at least storing task identification and task execution parameters of the timing task.

S305, deleting the task nodes which represent the target timing task in the task sequencing file, and triggering the task sequencing file to reorder the rest task nodes.

S306, after the rest task nodes are reordered, ending the access to the task ordering file and releasing the file lock.

In the embodiment, the file lock is added to the task sequencing file, a plurality of programs or services are prohibited from accessing the task sequencing file at the same time, and the disorder of the timing task in the task sequencing file can be avoided; after the rest task nodes are reordered, the access to the task ordering file is finished, and the file lock is released, so that other programs or services can access the task ordering file by releasing the file lock in time, and the efficiency of executing the timing task can be further ensured.

Example four

Fig. 4a is a flowchart of a robot task processing method according to a fourth embodiment of the present invention. Referring to fig. 4a, the process flow of the method includes the following steps:

s401, cutting the task sorting file according to preset cutting parameters to obtain a plurality of task sorting subfiles.

The task ordering file stores the ordered timing tasks in a tree structure, for example, stores the ordered timing tasks in a complete binary tree form; each task node of the tree structure represents a timed task, and the timed task may be at least one of a disinfection task, a distribution task, a recovery task, a cruise task, a cleaning task, a guidance task, and an upgrade task. And the task node stores the task identifier and the task execution time of the timing task. It should be noted that the task sequencing file arranges the timing tasks according to a small top heap format, so that the execution time of the timing task corresponding to the root node of the tree structure is the earliest, the task execution time of the upper layer task node is smaller than that of the lower layer task node, and the task execution times of the task nodes in the same layer are sequentially increased from left to right. Due to the large number of timed tasks of the robot, the task sequencing file is large. When a program or service accesses a task sequencing file, all contents of the file need to be read into the program or service for processing, and if the task sequencing file is too large, the reading efficiency is affected. Therefore, in order to ensure the reading efficiency of the subsequent file content, the task ordering file can be divided into a plurality of task ordering subfiles. Optionally, the task ordering file is cut according to a preset cutting parameter to obtain a plurality of task ordering subfiles, where the cutting parameter is a maximum number of task nodes included in each task ordering subfile, and in addition, the cutting parameter may further specify how many task ordering subfiles the task ordering file is divided into, for example, specify that the task ordering file is divided into 5 task ordering subfiles.

Exemplarily, referring to fig. 4b, a schematic diagram of a task sequencing file is shown, where the task sequencing file includes 8 task nodes, and a task execution time of a timing task corresponding to a root node 9 is the earliest; in the second layer of the tree structure, the task execution time of the timed task corresponding to the

task nodes

5 and 8 is later than the task execution time of the timed task corresponding to the root node 9, and the task execution time of the timed task corresponding to the task node 8 is later than the task execution time of the timed task corresponding to the root node 5. If the cutting parameter is 'cutting into 5 task sorting files, each task sorting subfile comprises 3 task nodes at most', so that the file can be divided by enclosing a specified number of logics from top to bottom according to specified blocks, and the task nodes of the 5 cut task sorting subfiles are '9', 5 ', 8', '2, 1', '3', '4' and '7', respectively.

Optionally, the task ordering file may be cut and recombined according to different types of the timing tasks, so that the timing tasks of the same type are in the same task ordering subfile for different threads to access and execute respectively, thereby improving the execution efficiency and avoiding task confusion.

S402, determining a target task ordering subfile from the plurality of task ordering subfiles.

And the task execution time of the timing task included by the root node in the target task sequencing sub-file is the earliest. Therefore, the determined target task ordering subfile is essentially a root file, and the execution time of the timing task in the file is earlier than that of other task ordering subfiles.

And S403, responding to the task query instruction, and accessing the target task ordering subfile.

In the embodiment of the invention, the task sequencing file is accessed for selecting a plurality of target timing tasks with the earlier execution time, because the execution time of the timing tasks in the target task sequencing subfile is earlier than that of other task sequencing subfiles, the target task sequencing subfile is accessed first during each access, and if the timing tasks in the target task sequencing subfile are less, the next task sequencing subfile can be read. It should be noted that, because the task ordering file is divided in advance, when the task ordering file is accessed, only part of the task ordering file subfiles need to be accessed, and the whole task ordering file does not need to be accessed, so that the access efficiency can be ensured.

S404, selecting a preset number of target timing tasks from the target task sorting subfiles.

Optionally, the target timing task is selected from N timing tasks with the task execution time earlier in the target task ordering subfile.

S405, judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task.

In a case where it is determined that the target timed task satisfies the task execution condition, the steps of S406 and S407 are executed in parallel.

S406, according to the task identifier of the target timing task, retrieving task execution parameters of the target timing task from a database, and executing the target timing task according to the task execution parameters; the database is used for at least storing task identification and task execution parameters of the timing task.

And S407, deleting the task nodes representing the target timing task in the task sequencing file, and triggering the task sequencing file to reorder the rest task nodes.

For a detailed description of the steps of S406 and S407, reference may be made to the above embodiments, which are not repeated herein.

In the embodiment of the invention, the task sequencing file is divided into a plurality of task sequencing file subfiles in advance, the target task sequencing subfile is determined, and then the target timing task is obtained by accessing the target task sequencing subfile firstly, so that the access to the complete task sequencing file is avoided, the file access efficiency is improved, and the processing efficiency of the whole robot timing task is further ensured.

EXAMPLE five

Fig. 5 is a flowchart of a robot task processing method according to a fifth embodiment of the present invention. Referring to fig. 5, the process flow of the method includes the following steps:

s501, cutting the task sorting file according to preset cutting parameters to obtain a plurality of task sorting sub-files.

The task ordering file stores the ordered timing tasks in a tree structure, for example, stores the ordered timing tasks in a complete binary tree form; each task node of the tree structure represents a timed task, which may be at least one of a disinfection task, a distribution task, a recovery task, a cruise task, a cleaning task, a guidance task and an upgrade task. And the task node stores the task identifier and the task execution time of the timing task. It should be noted that, the task sequencing file arranges the timing tasks according to a small top heap format, so that the execution time of the timing task corresponding to the root node of the tree structure is the earliest, the task execution time of the upper layer task node is smaller than that of the lower layer task node, and the task execution times of the task nodes in the same layer sequentially increase from left to right. Due to the large number of timed tasks of the robot, the task ranking file is large. When a program or service accesses a task sequencing file, all contents of the file need to be read into the program or service for processing, and if the task sequencing file is too large, the reading efficiency is affected. Therefore, in order to ensure the reading efficiency of the subsequent file content, the task ordering file can be divided into a plurality of task ordering subfiles. Optionally, the task ordering file is cut according to a preset cutting parameter to obtain a plurality of task ordering subfiles, where the cutting parameter is the maximum number of task nodes included in each task ordering subfile, and in addition, the cutting parameter may further specify how many task ordering subfiles the task ordering file is divided into, for example, specify that the task ordering file is divided into 5 task ordering subfiles.

S502, determining a target task ordering subfile from the plurality of task ordering subfiles.

And the task execution time of the timing task included by the root node in the target task sequencing sub-file is the earliest. Thus, the determined target task ordering subfile is essentially a root file in which the timed task is executed earlier than the other task ordering subfiles.

S503, responding to the task query instruction, and accessing the target task ordering subfile.

In the embodiment of the invention, the task sequencing file is accessed for selecting a plurality of target timing tasks with the earlier execution time, because the execution time of the timing tasks in the target task sequencing subfile is earlier than that of other task sequencing subfiles, the target task sequencing subfile is accessed first during each access, and if the timing tasks in the target task sequencing subfile are less, the next task sequencing subfile can be read. It should be noted that, because the task ordering file is divided in advance, when the task ordering file is accessed, only part of the task ordering file subfiles need to be accessed, and the entire task ordering file does not need to be accessed, so that the access efficiency can be ensured.

S504, selecting a preset number of target timing tasks from the target task sequencing subfiles.

And S505, judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task.

In the case where it is determined that the target timed task satisfies the task execution condition, the steps of S506 and S507 to S509 are executed in parallel.

S506, deleting the task nodes which represent the target timing task in the task sequencing file, and triggering the task sequencing file to reorder the rest task nodes.

S507, according to the task identification of the target timing task, retrieving task execution parameters of the target timing task from a database, and executing the target timing task according to the task execution parameters; the database is used for at least storing task identification and task execution parameters of the timing task.

In this embodiment, the database stores, in addition to the task identifier and the task execution parameter of the timing task, the task execution time and the execution plan of each timing task, where the execution plan may be recorded by a Cron expression, and may be used to represent whether the timing task is a one-time task or a task that needs to be executed multiple times.

After the target timed task is executed, the robot task processing method further includes the steps of S508-S509.

And S508, judging whether the target timing task belongs to a task which needs to be executed in a plurality of time periods according to the execution plan of the target timing task.

For example, if the execution plan of the target timing task is "15 execution every day, it can be known that the target timing task belongs to a task that needs to be executed in multiple time periods, that is, after the execution is completed, the target timing task is executed subsequently. In order to ensure the normal execution of the following steps, the step of S509 needs to be executed.

S509, updating the task execution time of the target timing task stored in the database according to the execution plan; and re-inserting the target timing task with the updated task execution time into the task sequencing file.

In this embodiment, if the target timed task belongs to a task that needs to be executed in multiple time periods, after the current execution is completed, the target timed task cannot be deleted from the database, and instead, the content of the target timed task should be updated, for example, the task execution time of the target timed task stored in the database is updated according to the execution plan. Since the target timed task is deleted from the human ranking file in step S506, in order to ensure that the target timed task can be found subsequently, the execution time of the target timed task needs to be determined again, and the target timed task needs to be reinserted into the task ranking file. It should be noted that, if the target timing task is inserted into a task ordering subfile, the task ordering subfile may be re-divided according to the cutting parameter after the task ordering subfile does not satisfy the cutting parameter.

In this embodiment, after the target timing task is executed, if it is determined that the target timing task does not belong to the tasks executed in the multiple time periods, the target timing task may be deleted from the database.

In this embodiment, for a target timing task that needs to be executed in multiple time periods, after the execution is completed this time, the execution time in the database is updated and the target timing task is reinserted into the task sequencing file, so that the target timing task can be normally executed next time.

Further, a task ordering subfile where each timing task is located is recorded in the database; if the user or the system actively deletes a certain timing task in the database, responding to the deletion of any timing task in the database, and quickly positioning the task sequencing subfile according to the task sequencing subfile where the timing task is recorded in the database, so as to delete the corresponding task node in the task sequencing subfile. Therefore, the efficiency of the task processing of the robot can be ensured.

Example six

Fig. 6 is a flowchart of a robot task processing method according to a sixth embodiment of the present invention. The present embodiment is optimized based on the above embodiments, and mainly adds a processing flow of a newly-initiated timing task, referring to fig. 6, where the method flow includes the following steps:

s601, responding to a new timing task initiated by a user or a robot system, and inserting a task identifier and a task execution time of the new timing task into the corresponding task sequencing subfile.

S602, storing the task identifier of the new timing task, the task execution parameters, the execution plan, the task execution time and the task sequencing subfile where the timing task is located in the database.

In the embodiment, a new timing task is initiated for a user or a robot system, and is divided into two parts, wherein the first part comprises a task identifier and a task execution time, and the part needs to be inserted into a corresponding task sequencing subfile; the second part comprises a task identifier, a task execution parameter, an execution plan, a task execution time and a task ordering subfile where the timing task is located, and the task ordering subfile needs to be stored in a database; wherein, the task ordering subfile where the timing task is located is determined on the basis of S601. Therefore, the sequencing of the timing tasks is mainly completed by the task sequencing file, and the database does not need to execute the task sequencing operation, so that the pressure on the database is reduced during the subsequent task query, and the influence of the query timing tasks on the database is also reduced.

EXAMPLE seven

Fig. 7 is a schematic structural diagram of a robot task processing device according to a seventh embodiment of the present invention, which is applicable to processing a situation where a timed task of a robot is frequently initiated and executed. As shown in fig. 7, the apparatus includes:

an access module 701, configured to access a task ranking file in response to a task query instruction; the task ordering file is used for storing task identifiers and task execution times of the timing tasks and ordering the stored timing tasks according to the task execution times;

a screening module 702, configured to select a preset number of target timing tasks from the task sorting file;

the determining module 703 is configured to determine whether the target timing task satisfies a task execution condition according to the task execution time of the target timing task;

an executing module 704, configured to, if the determination result is that the target timing task is satisfied, retrieve a task execution parameter of the target timing task from the database according to the task identifier of the target timing task, and execute the target timing task according to the task execution parameter; the database is used for at least storing task identification and task execution parameters of the timing task.

On the basis of the above embodiment, optionally, the timing task includes at least one of a sterilization task, a distribution task, a recovery task, a cruise task, a cleaning task, a guidance task, and an upgrade task.

On the basis of the foregoing embodiment, optionally, the determining module is further configured to:

and judging whether the task execution time of the target timing task is after the current time, and if not, determining that the target timing task meets the task execution condition.

On the basis of the above embodiment, optionally, the task sorting file stores the sorted timing tasks in a tree structure; each task node of the tree structure represents a timing task, and a task identifier and a task execution time of the timing task are stored in the task node;

correspondingly, the robot task processing device further comprises:

and the deletion triggering module is used for deleting the task nodes which represent the target timing task in the task sequencing file after the target timing task meets the task execution condition, and triggering the task sequencing file to reorder the rest task nodes.

On the basis of the foregoing embodiment, optionally, the robot task processing device further includes:

the adding lock module is used for adding a file lock for the task sequencing file when the task sequencing file is accessed; the file lock is used for preventing the task sorting file from being simultaneously accessed by a plurality of programs or services;

and the lock releasing module is used for finishing the access to the task sequencing file and releasing the file lock after the rest task nodes are reordered.

the file segmentation module is used for segmenting the task sequencing file according to preset segmentation parameters to obtain a plurality of task sequencing sub-files; the cutting parameter is the maximum number of task nodes included in each task sequencing subfile;

the file screening module is used for determining a target task sorting subfile from the plurality of task sorting subfiles; the task execution time of a timing task included by a root node in the target task sequencing subfile is the earliest;

correspondingly, the screening module is further configured to:

and selecting a preset number of target timing tasks from the target task ordering subfiles.

On the basis of the above embodiment, optionally, the database further records a task ordering subfile where each timing task is located;

correspondingly, the robot task processing device further comprises:

and the task node deleting module is used for responding to the deletion of any timing task in the database, and deleting the corresponding task node in the task sequencing subfile according to the task sequencing subfile where the timing task is recorded in the database.

On the basis of the above embodiment, optionally, the database further stores the task execution time and the execution plan of each timing task;

correspondingly, the robot task processing device further comprises:

the task attribute judging module is used for judging whether the target timing task belongs to a task which needs to be executed in a plurality of time periods or not according to the execution plan of the target timing task after the target timing task is executed;

and the updating module is used for executing the following operations if the judgment result is yes: updating the task execution time of the target timing task stored in the database according to the execution plan; and re-inserting the target timing task with the updated task execution time into the task sequencing file.

the node insertion module is used for responding to a new timing task initiated by a user or a robot system and inserting the task identifier and the task execution time of the new timing task into the corresponding task sequencing subfile;

and the data storage module is used for storing the task identifier of the new timing task, the task execution parameters, the execution plan, the task execution time and the task sequencing subfile where the timing task is located in the database.

The robot task processing device provided by the embodiment of the invention can execute the robot task processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example eight

FIG. 8 illustrates a block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM12, and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as performing a robot task processing method.

In some embodiments, the robot task processing method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into the RAM13 and executed by the processor 11, one or more steps of the robot task processing method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g. by means of firmware) to perform the robot task processing method.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot task processing method, comprising:

responding to a task query instruction, accessing a task sorting file, and adding a file lock for the task sorting file; the task ordering file is used for storing task identifiers and task execution times of the timing tasks and ordering the stored timing tasks according to the task execution times; the file lock is used for preventing the task sequencing file from being accessed by a plurality of programs or services at the same time; the timing task comprises at least one of a disinfection task, a distribution task, a recovery task, a cruise task, a cleaning task, a guide task and an upgrade task;

selecting a preset number of target timing tasks from the task sequencing file;

judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task and the current state of the robot;

if yes, retrieving task execution parameters of the target timing task from a database according to the task identifier of the target timing task, and executing the target timing task according to the task execution parameters; the database is used for at least storing task identifiers, task execution parameters and execution plans of timed tasks;

judging whether the target timing task belongs to a task which needs to be executed in a plurality of time periods or not according to the execution plan of the target timing task;

if yes, the following operations are executed: updating the task execution time of the target timing task stored in the database according to the execution plan; and re-inserting the target timing task with the updated task execution time into the task sequencing file.

2. The robot task processing method according to claim 1, wherein determining whether the target timed task satisfies a task execution condition based on a task execution time of the target timed task comprises:

3. A robot task processing method according to claim 1, wherein the task ranking file saves the ranked timed tasks in a tree structure; each task node of the tree structure represents a timing task, and a task identifier and a task execution time of the timing task are stored in the task node;

correspondingly, after determining that the target timing task meets the task execution condition, the robot task processing method further includes:

and deleting the task nodes representing the target timing task in the task sequencing file, and triggering the task sequencing file to reorder the rest task nodes.

4. The robot task processing method according to claim 3, further comprising:

and after the rest task nodes are reordered, ending the access to the task ordering file and releasing the file lock.

5. The robot task processing method according to claim 3, further comprising:

cutting the task sorting file according to preset cutting parameters to obtain a plurality of task sorting subfiles; the cutting parameter is the maximum number of task nodes included in each task sorting subfile;

determining a target task ordering subfile from the plurality of task ordering subfiles; the task execution time of the timing task included by the root node in the target task ordering subfile is the earliest;

correspondingly, selecting a preset number of target timing tasks from the task sequencing file, wherein the preset number of target timing tasks comprises the following steps:

and selecting a preset number of target timing tasks from the target task sequencing subfiles.

6. The robot task processing method according to claim 1, wherein a task ordering subfile in which each timed task is located is further recorded in the database;

correspondingly, the robot task processing method further comprises the following steps:

and in response to the deletion of any timing task in the database, deleting a corresponding task node in the task sequencing subfile according to the task sequencing subfile where the timing task is recorded in the database.

7. The robot task processing method according to claim 1, further comprising:

responding to a new timing task initiated by a user or a robot system, and inserting a task identifier and a task execution time of the new timing task into a corresponding task sequencing subfile;

and storing the task identifier, the task execution parameters, the execution plan, the task execution time and the task sequencing sub-file in which the timing task is located of the new timing task in the database.

8. A robot task processing apparatus, characterized by comprising:

the access module is used for responding to a task query instruction, accessing the task sorting file and adding a file lock for the task sorting file; the file lock is used for preventing the task sorting file from being simultaneously accessed by a plurality of programs or services; the task ordering file is used for storing task identifiers and task execution times of the timing tasks and ordering the stored timing tasks according to the task execution times; the timing task comprises at least one of a disinfection task, a distribution task, a recovery task, a cruise task, a cleaning task, a guide task and an upgrade task;

the judging module is used for judging whether the target timing task meets task execution conditions or not according to the task execution time of the target timing task and the current state of the robot;

the execution module is used for retrieving task execution parameters of the target timing task from a database according to the task identifier of the target timing task and executing the target timing task according to the task execution parameters if the judgment result is satisfied; the database is used for at least storing task identifiers, task execution parameters and execution plans of timed tasks;

the task attribute judging module is used for judging whether the target timing task belongs to a task needing to be executed in multiple time periods or not according to the execution plan of the target timing task after the target timing task is executed;

and the updating module is used for executing the following operations if the judgment result is yes: updating the task execution time of the target timing task stored in the database according to the execution plan; and re-inserting the target timing task of the updated task execution time into the task sequencing file.

9. An electronic device, comprising:

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the robot task processing method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to perform the method of robotic task handling of any of claims 1-7 when executed.