WO2022237323A1

WO2022237323A1 - Scheduling system and method for robot, robot, and customization method

Info

Publication number: WO2022237323A1
Application number: PCT/CN2022/081974
Authority: WO
Inventors: 许�鹏; 蔡林太; 肖俊敏
Original assignee: 灵动科技（北京）有限公司
Priority date: 2021-05-13
Filing date: 2022-03-21
Publication date: 2022-11-17
Also published as: CN115344009A

Abstract

Provided are a scheduling system (100) for a robot, a robot comprising a scheduling system (100), a scheduling method for a robot, a corresponding computer device and computer-readable storage medium, and a method for customizing a scheduling system (100) for a robot. The scheduling system (100) comprises: a process generation module (101) configured to generate an operation process for a robot, wherein the operation process comprises one or more components arranged in a predetermined sequence, each component comprises one operation sequence formed by a plurality of operations, each of at least some of the operations has at least one attribute, and each attribute has an attribute value; and a process engine (102) configured to issue an instruction on the basis of the operation process so as to control the robot to operate according to the operation process. The solution supports the customization and adjustment of a scheduling system (100) for a robot and the flexible scheduling of a robot according to requirements, and also helps a robot service provider to efficiently and conveniently customize the scheduling system (100) for a robot.

Description

Scheduling system and method for robot, robot and custom method

technical field

The present invention relates to the technical field of robots, in particular, to a scheduling system for robots, a robot including the scheduling system, a scheduling method for robots, corresponding computer equipment and computer-readable storage media, and customized for A method for a scheduling system for robots.

Background technique

At present, intelligent robots are widely used in many industries, such as logistics industry, manufacturing industry and so on. In different industries, or in different applications in the same industry, robots need to be scheduled differently according to specific application scenarios. Therefore, there is a need to customize the robot scheduling system and adjust the scheduling of robots according to specific application requirements. This presents some challenges. For example, for robot service providers, when conducting customized development, they usually face problems such as large R&D investment, long delivery cycle, and cumbersome deployment work. With the rapid increase of project sources, the pressure on R&D and delivery is increasing. In addition, how to enable users to arrange or adjust the scheduling mode of robots according to their needs is also a problem.

Contents of the invention

The present application seeks to provide a solution to the above-mentioned need to solve or at least alleviate at least some of the above-mentioned problems.

Specifically, according to a first aspect of the present invention, a scheduling system for robots is provided, which includes:

a flow generation module configured to generate an operation flow for the robot, the operation flow includes one or more components arranged in a predetermined order, each of the components includes an operation sequence formed by a plurality of operations, at least in part each of said operations has at least one attribute, each of said attributes has an attribute value; and

The process engine is configured to issue instructions based on the generated operation process to control the robot to operate according to the operation process.

According to a second aspect of the present invention, a robot is provided, which includes the scheduling system of the first aspect above.

According to a third aspect of the present invention, there is provided a scheduling method for a robot, which includes:

generating an operational flow for said robot, said operational flow comprising one or more components arranged in a predetermined order, each said component comprising a sequence of operations formed by at least some of said operations has at least one attribute, each of said attributes having an attribute value; and

An instruction is issued based on the generated operation flow to control the robot to operate according to the operation flow.

According to a fourth aspect of the present invention, there is provided a computer device, which includes a memory and a processor, and computer instructions are stored on the memory, and when executed by the processor, the computer instructions cause the scheduling method of the third aspect above be executed.

According to a fifth aspect of the present invention, there is provided a non-transitory computer-readable storage medium on which computer instructions are stored, and when executed by a processor, the computer instructions cause the above-mentioned scheduling method of the third aspect to be executed.

According to a sixth aspect of the present invention, there is provided a method of customizing a scheduling system for a robot, which includes:

Create a flow generation module configured to generate an operation flow for the robot, the operation flow includes one or more components arranged in a predetermined order, each of the components includes a plurality of operations formed a sequence of operations, at least some of said operations each having at least one attribute, each of said attributes having an attribute value; and,

creating a process engine configured to issue instructions based on the generated operation process to control the robot to operate according to the operation process,

Wherein, the scheduling system includes the process generation module and the process engine.

The solution of the invention supports customization and adjustment of the robot scheduling system and flexible scheduling of the robots according to needs. Utilizing the scheme of the present invention, by generating operation sequences based on operations/actions, that is, components, and arranging the components in order to generate operation procedures, it is possible to generate specific applications for robots in a relatively simple, efficient and convenient manner. The operation process is used to schedule the robot, which improves the flexibility and cheapness of the robot. In addition, the solution of the present invention helps robot service providers to customize and deliver the robot dispatching system according to the robot's expected application scenarios and/or user needs in an efficient, convenient, and cost-effective manner.

Description of drawings

Non-limiting and non-exhaustive embodiments of the invention are described by way of example with reference to the following figures, in which:

FIG. 1 is a diagram schematically showing a scheduling system for a robot according to an embodiment of the present invention;

2 is a diagram schematically showing a scheduling system for robots according to another embodiment of the present invention;

Fig. 3 is a flowchart schematically showing a scheduling method for a robot according to an embodiment of the present invention; and

Fig. 4 is a flowchart schematically showing a method for customizing a scheduling system for robots according to an embodiment of the present invention.

Detailed ways

In order to make the above and other features and advantages of the present invention clearer, the present invention will be further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art, and are only exemplary rather than restrictive.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one of ordinary skill in the art that these specific details need not be employed to practice the present invention. In other instances, well-known steps or operations have not been described in detail in order not to obscure the invention.

The "robots" mentioned in the present invention may also be referred to as "intelligent robots" and "automatically guided vehicles", which should be broadly understood as including autonomous and self-driving vehicles used in various environments, including but Not limited to mobile robots, such as self-navigating mobile robots, inertial navigation robots, remote-controlled mobile robots, and/or robots guided by laser targeting, vision systems, and/or landmarks. The robot in the present invention can also be regarded as a kind of self-driving vehicle.

The "standard action" mentioned in the present invention refers to the abstract encapsulation of the existing actions that the robot can perform. Standard actions may be predefined by the robot service provider by packaging together at least one instruction for the robot. Pre-defined standard actions can be stored in the standard action-attribute library, and can be called to generate an operation process; afterward, when the robot is controlled to operate according to the generated operation process, instructions can be issued directly to make the robot perform at least one of the standard actions instructions without programming. Such standard actions may include, for example but not limited to, navigation, jacking, voice broadcast, feeding rack, discharging rack, docking, following, switching pages, and the like. It will be appreciated that a particular robot may be configured to perform some or all of the predefined standard actions, depending on the configuration and configuration of the robot. For example, a particular robot may be equipped with various devices/equipment required by the robot to perform the operations/standard actions it is intended to perform, including but not limited to: Required devices/equipment, such as movable chassis, visual sensors, motion sensors, etc.; devices required for jacking operations, such as jacking devices, etc.; devices required for voice broadcast operations, such as speaker devices, etc.; docking operations Required equipment/devices, such as bodywork platforms, docking devices, etc.; devices required to perform page switching operations, such as monitors, etc.

Herein, "navigation" may refer to receiving route instructions from a control system or a system administrator, detecting the road surface through sensors (eg, cameras) provided on the robot, and controlling the movable chassis of the robot to follow the route instructions. The "navigation" action can also include, for example, detecting obstacles through sensors or navigation maps (eg, GPS maps) to realize automatic obstacle avoidance functions, or realizing route re-planning functions based on navigation maps when it is detected that the robot has deviated from the navigation route. "Jacking" refers to the operation of lifting devices (such as support plates or pillars, etc.) installed on the robot to rise or fall, so as to realize the loading/unloading of goods by the robot. "Voice broadcast" means that the robot broadcasts voice prompts according to the predetermined number of cycles, voice broadcast content and optional interval time. "Feeding rack" means that the robot drives from a position in front of the rack to directly under the rack according to a predetermined direction and travel distance, so that the goods can be unloaded from the robot and placed on the rack through the jacking device or placed on the rack by the jacking device. The material rack is unloaded and loaded onto the robot. "Exit rack" means that the robot drives out of the rack from directly below the rack according to the predetermined direction and travel distance. "Docking" refers to docking the robot or the upper loading platform of the robot with the material platform of the device to be docked (such as conveyor belts, rollers, trays, racks, shelves, etc.) Or from the device to be docked to the robot, which can include jacking docking, positive docking, side docking, etc., which can be used to realize the automatic handling of materials such as heavy materials in storage or production lines, shelf handling, automatic storage systems and roller transfers. Loading and unloading etc. "Follow" means that the robot follows the set follow target. "Switching pages" means that the robot automatically switches the human-computer interaction page and displays it on the display of the robot.

The "process engine" mentioned in the present invention can be understood as a device for controlling the operation and action execution of the robot, and can issue instructions to make the robot's action execution device/mechanism (such as for performing navigation, jacking, and voice broadcasting) , feeding frame, discharging frame, docking, following, switching page action devices/mechanisms) operate accordingly to perform corresponding actions. A process engine may be implemented in hardware, software, firmware, or any suitable combination thereof, as appropriate. The process engine can be regarded as a part of the robot control system, specifically the part used to control the operation and action execution of the robot. In addition to controlling the operation and execution of actions of the robot, the robot control system can also control other aspects of the robot.

Fig. 1 shows a scheduling system 100 for robots according to an embodiment of the present invention. As shown in FIG. 1 , the scheduling system 100 includes a process generation module 101 and a process engine 102 . The process generation module 101 is communicatively coupled with the process engine 102 .

The process generation module 101 can be used to generate an operation process for the robot. Here, the operation flow may include one or more components arranged in a predetermined order, each of the components may include an operation sequence formed by a plurality of operations, each of at least some of the operations has at least one attribute, each of said attributes have an attribute value. Here, "component" may also be referred to as "operation component" or "action component".

In one embodiment, each operation included in the component may correspond to a predefined standard action, and at least one attribute of each operation having at least one attribute may be one of the attributes of the standard action corresponding to the operation. Some or all attributes. The properties of standard actions can be predefined. It will be further described later.

The process engine 102 can be configured to issue instructions based on the operation process generated by the process generation module 101 to control the robot to operate according to the operation process.

In one embodiment, the operation process generated by the process generation module 101 may be based on the expected application scenario of the robot, each of the components may have an associated target point in the expected application scenario, and may be related to the It is related to the type and/or business requirements of the above target sites. Target points can be pre-defined. According to the situation, each target point in the expected application scenario may have a specified type, a specified business requirement, or both, so as to facilitate associating the component with the corresponding target point according to the operation sequence included in the component. Types of target points may include, for example but not limited to, automatic loading points, automatic unloading points, automatic pickup points, automatic obstacle avoidance points, and the like. The business requirements of the target point may include, for example but not limited to: the robot arrives at the target point and loads materials from the rack at the target point; the robot arrives at the target point and unloads the material onto the rack at the target point; The target point, picking up goods from the shelf at the target point; the robot reaches the target point, avoiding obstacles at the target point; etc. It should be noted that not any sequence of operations constitutes a "component" of the present invention. For example, if a sequence of operations is not associated with any predefined target points, the sequence of operations is not a "component" of the present invention.

In one embodiment, the expected application scenario of the robot is that the robot automatically navigates to a loading point for loading, and then automatically navigates to a corresponding unloading point for unloading. For this expected application scenario, the process generation module 101 can generate an operation process "automatic one-to-one process". The operation process includes two components "automatic loading point" and "automatic unloading point", among which: the component "automatic loading point" is used for the robot to perform the following operations: navigate to the loading point position, and automatically drive forward to feed the specified safe distance Rack, using jacking to automatically load the rack (or the goods on the rack), its operation sequence may include: navigation, switching pages, cyclic voice broadcast, feeding rack, switching pages, jacking and cyclic voice broadcast; the component "auto "Unloading point" is used for the robot to perform the following operations: navigate to the unloading point, use jacking to automatically unload the material rack (or goods) on it, and automatically drive forward a specified safe distance from the unloading rack. The operation sequence includes: navigation , switch page, loop voice broadcast, jacking, loop voice broadcast, discharge rack, switch page and loop voice broadcast. It can be seen that the components "automatic loading point" and "automatic unloading point" are respectively related to the type of the target point and business requirements.

Although it is described above that the components "automatic loading point" and "automatic unloading point" include the actions "switch page" and "loop voice broadcast", these two actions are not required and may be optional according to the situation.

Although in the above embodiments, it is described that a component is composed of a plurality of operations, it does not exclude the case that a component is formed of a single operation.

In one embodiment, the generation of the operation flow by the flow generation module 101 may be triggered by a trigger event. The triggering event can be various possible events, including events that may occur on the robot service provider side and events that may occur on the robot end user side, such as events related to the process orchestration operation of the dispatching system developer, and events related to the end user side of the robot. Events related to orchestration operations. In one embodiment, the triggering event includes: the process generation module 101 receives a user input associated with generating an operation process. Here, "user input" should be broadly understood as various possible inputs, which can come from any possible operator, including but not limited to developers at the robot service provider side, operators at the end user side of the robot, etc. In one embodiment, the process generation module 101 may receive user input through a human-computer interaction interface equipped with the robot.

Fig. 2 shows a scheduling system 200 for robots according to another embodiment of the present invention. As shown in FIG. 2 , the scheduling system 200 includes a process generation module 201 , a process engine 202 , a standard action-attribute library 203 , a verification module 204 and a human-computer interaction interface 205 . The process generation module 201 is communicatively coupled with the process engine 202 , the standard action-attribute library 203 and the human-computer interaction interface 205 . Additionally, the human-computer interaction interface 205 is communicatively coupled with the authentication module 204 .

In the case of FIG. 2, the process generation module 201 can be used to create one or more components based on the standard actions and their attributes stored in the standard action-attribute library 203, and arrange the one or more components in a predetermined order to Generate operation procedures. Each of the components includes a sequence of operations formed by a plurality of standard actions, each of at least some of the operations has at least one attribute, and each of the attributes has an attribute value.

The process engine 202 can be configured to issue instructions based on the operation process generated by the process generation module 201 to control the robot to operate according to the operation process.

The standard action-attribute library 203 can be used to store predefined standard actions and store each attribute of each standard action having at least one attribute. In one embodiment, as shown in Table 1 below, the standard action-attribute library 203 stores: names of predefined standard actions; descriptions of standard actions; and attributes of standard actions. According to Table 1, for the standard action "jacking", there are predefined attributes: direction and distance; for the standard action "docking", there are predefined attributes: docking method, docking accuracy and docking times; for the standard action "looping voice "Broadcast", there are predefined attributes: cycle times, voice broadcast content and interval time; for the standard action "navigation", there are predefined attributes: direction and distance; for the standard action "outlet rack", there are predefined attributes : direction and distance; for the standard action "feed rack", there are predefined attributes: direction and distance; for the standard action "follow", there are predefined attributes: follow mode, start and stop; the standard action "switch page" Can have no attributes.

Table 1

Optionally, for one or some standard actions, the standard action-attribute library 203 can store the attribute value range and/or attribute value type of one or some attributes, which is beneficial, for example, to help the robot Properly limit the execution of actions, identify invalid attribute values, avoid unreasonable operations of the robot and the consequences related thereto. For example, if the attribute value input by the user is not within the corresponding attribute value range and/or does not belong to the corresponding attribute value type, the attribute value may be considered invalid. For example, for the standard action "loop voice broadcast", you can define an attribute value type for its attribute "voice broadcast content", such as "text"; for the standard action "lift", you can define its attribute "distance" Define a property value range, such as "10mm to -30mm". In addition, optionally, for one or some standard actions, the standard action-attribute library 203 may store the default attribute value of one or some of the attributes, which is beneficial to simplify the process of orchestrating the process. For example, for the standard action of "docking", a default attribute value such as "3" can be specified for its attribute "number of dockings".

When a standard action is invoked to generate a component and is included in the component as an operation in its sequence of operations, the operation in the component corresponding to the standard action can have all of the standard action's predefined All or some of the properties. For example, for the standard action "loop voice broadcast", its predefined attributes include three attributes: cycle times, voice broadcast content and interval time. When the attribute "number of cycles" of the operation corresponding to the standard action is "1" in the operation sequence of the component generated by calling the standard action, the operation corresponding to the standard action may only include the three attributes Two of them are "Number of Loops" and "Voice Announcement Content". At this time, for this operation, the attribute "Interval Time" is unnecessary and does not need to be configured.

In one embodiment, the process generation module 201 may also be configured to receive user input associated with editing the operation process; and, in response thereto, edit the generated operation process. For example, the process generation module 201 may have a process editing interface (not shown) for receiving the user input. Editing of the operation process may include, for example but not limited to: creating a new operation process, deleting the created operation process; modifying the created operation process, including, for example but not limited to, changing one or some components included in the operation process order, add one or more components in the operation process, delete one or some components included in the operation process, modify one or some components included in the operation process. Modifying a component may include, for example but not limited to: changing the order of one or some operations included in the component, adding one or more operations in the component, deleting one or some operations included in the component, Modifies one or more operations included in this component. Modifying an operation may include, for example but not limited to: adding an attribute of the operation, deleting one or some attributes of the operation, changing an attribute value of one or some attributes of the operation, and so on. Editing of the operation procedure may be performed by the procedure generation module 201 in response to user input received through the human-computer interaction interface 205 . Depending on the design of the human-computer interaction interface 205 and/or the corresponding user interface, the user input may be performed by, for example but not limited to, user's check, click, drag, delete, data input operation and the like. For example, optional items (such as optional components, operations (such as standard actions), attributes, and attribute values) may be presented in the user interface for the user to select and an editing area may be presented for the user to input data (such as the attribute value).

The verification module 204 may be used to verify the operation process generated by the process generation module 201, at least one component included in the operation process, and/or the execution status of at least one operation in at least one component included in the operation process to generate a verification result, And the verification result is provided to the human-computer interaction interface 205 of the robot for presentation. The first situation that the verification module 204 can be used for is the situation that the robot operates according to the generated operation flow, the components included in the operation flow and/or the operations included in the components. For the first situation, the verification module 204 may receive, for example, execution-related information detected by sensors installed on the robot, and perform verification based on the received execution-related information—for example, judge whether the robot successfully executes the relevant information based on the execution-related information. When it is judged that the robot has successfully executed the action, it generates a verification result of passing the verification and sends it to the human-computer interaction interface 205; when it judges that the robot has not successfully executed the action, it generates a verification result of failure The result is verified and sent to the human-computer interaction interface 205 . The second situation that the verification module 204 can be used for is the case of performing simulated verification using a simulator and/or based on pre-configured rules. The simulator can be pre-configured and can be used to simulate the operation of the robot according to the generated operation process, the components included in the operation process and/or the operations included in the components and give the simulated operation results. When the simulated operation result indicates that the robot successfully executes the relevant operation process, component and/or action corresponding to the operation, the verification module 204 can generate a verified verification result and send it to the human-computer interaction interface 205, when the simulated operation result indicates that the robot has not When the action is successfully executed, the verification module 204 may generate a verification result of verification failure and send it to the human-computer interaction interface 205 . The pre-configured rules can define one or more conditions related to the rationality of the operation process, components and/or operations, so as to be used to judge the operation process generated by the process generation module, the components included in the operation process and/or the operation process Included components contain operations that make sense. The rationality may include, for example but not limited to: the rationality of the range and/or type of one or some attribute values of a single operation/action; the rationality of the sequence of actions reflected in the sequence of operations included in a single component the rationality of the sequence among the components included in the operation process; etc. The conditions may define, for example but not limited to: the valid range and/or type of one or some attribute values of a single operation/action; the invalid range and/or type of one or some attribute values of a single operation/action; The previous operation/standard action to be performed before performing an operation/standard action; the next operation/standard action to be performed after performing an operation/standard action; possible reasonable sequence of operations; unreasonable sequence of operations; execution The previous component/operation/standard action to be performed before a certain component; the next component/operation/standard action to be performed after a certain component is executed; possible reasonable component sequences; unreasonable component sequences; etc. When it is judged according to the pre-configured rules that the operation process generated by the process generation module 201, the components included in the operation process, and/or the operations contained in the components included in the operation process are reasonable, the verification module 204 can generate a verification result that passes the verification and send To the human-computer interaction interface 205, when it is judged according to the pre-configured rules that the generated operation flow, the components included in the operation flow and/or the operations contained in the components included in the operation flow are unreasonable, the verification module 204 can generate a verification failure The result is verified and sent to the human-computer interaction interface 205 . For example, according to pre-configured rules, the jacking operation is required after the operation of the feed rack. If in the operation sequence included in a certain component, the operation after the "feeding rack" is "docking", the verification module 204 can obtain a verification result of verification failure according to this rule. Although not shown, it is possible that the verification module 204 is communicatively coupled with the flow generation module 201, depending on circumstances.

The human-computer interaction interface 205 may be various possible human-computer interaction interface devices such as a display, a keyboard, a mouse, a cursor, etc., or any suitable combination thereof. In one embodiment, the human-computer interaction interface 205 includes a touch screen display.

In one embodiment, the process generation module 201 may have an attribute value receiving interface (not shown). The property value receiving interface may be used to receive property values from an external system cooperating with the robot. Optionally, the process generation module 201 may send the attribute value to an external system cooperating with the robot via its attribute value receiving interface, at this time, the attribute value receiving interface may be referred to as an "attribute value sending and receiving interface". Such external systems may include various external systems that may cooperate with the robot, such as, but not limited to, the device to be docked that cooperates with the docking device of the robot or the system to which it belongs, the object that cooperates with the lifting device of the robot, such as a rack Or shelves or the systems they belong to, such as storage systems, additional robots, etc.

In an embodiment, the scheduling system of the present invention may further include an exception process module (not shown). The abnormal process module can be used to store the abnormal processing process, and the abnormal processing process can be used in the case of abnormal operation of the robot. It is possible for the robot to have an abnormal situation during the operation process generated by the process generation module. The abnormal situation may include, for example but not limited to, the robot cannot successfully complete a certain operation in the operation process, and the power of the robot is not enough to complete the operation process. All operations etc. Such abnormal situations can be detected based on, for example, execution-related information detected by sensors provided on the robot. For example, the process engine may receive such execution-related information and judge whether the execution of the operation process generated by the process generation module by the robot is normal based on the received execution-related information, and determine that an abnormal situation occurs when the judgment result is negative. The process engine may be communicatively coupled to the exception flow module, or the exception flow module may be part of the process engine. In the case of an abnormal operation of the robot, the process engine can invoke the exception handling process stored in the exception process module, and issue instructions based on the exception handling process to control the robot to operate according to the exception handling process. Exception handling processes can be pre-defined. For different exception situations, the same or different exception handling procedures may be defined, and in the latter case, the defined exception handling procedures may be based on the specific exception situations targeted. An exception handling flow can consist of a single operation/action or a sequence of multiple operations/actions. The exception handling process can indicate, for example but not limited to: the robot remains still at the current location and performs a circular voice broadcast to indicate that there is a fault in the execution of the operation; the robot returns to the standby area from the current location; the robot travels to the charging station according to the defined specific routing information district; etc.

The robot of the present invention may be equipped with the above-mentioned scheduling system, and include a corresponding execution system to execute the operations included in the operation flow generated by the flow generation module of the scheduling system.

Fig. 3 schematically shows a scheduling method S300 for a robot according to an embodiment of the present invention. The scheduling method S300 may include steps S301 and S302.

In step S301, an operation process for the robot is generated, the operation process includes one or more components arranged in a predetermined order, each of the components includes an operation sequence formed by a plurality of operations, at least part of the operations Each of has at least one attribute, each of which has an attribute value.

In S302, an instruction is issued based on the generated operation flow to control the robot to operate according to the operation flow.

In one embodiment, each operation in step S301 corresponds to a predefined standard action, and the at least one attribute of each operation having at least one attribute is one of the attributes of the standard action corresponding to the operation Some or all attributes. Standard actions and their attributes can be stored in a standard action-attribute library. In this case, step S301 may include steps S3012 and S3014. In step S3012, one or more components are established based on the standard actions and their attributes stored in the standard action-attribute library. In step S3014, the one or more components are arranged in a predetermined sequence to generate an operation flow.

Fig. 4 schematically shows a method S400 of customizing a scheduling system for robots according to an embodiment of the present invention. The method S400 may include steps S401 and S402.

In step S401, a process generation module is created, the process generation module is configured to generate an operation process for the robot, the operation process includes one or more components arranged in a predetermined order, each of the components includes multiple A sequence of operations formed by at least some of the operations each having at least one attribute and each of the attributes having an attribute value.

In step S402, a process engine is created, and the process engine is configured to issue instructions based on the generated operation process to control the robot to operate according to the operation process.

The created process generation module and process engine can form a scheduling system for robots.

In one embodiment, the method for customizing the scheduling system for robots of the present invention further includes providing a standard action-attribute library (not shown), which is used to store a plurality of predefined standard actions and Each attribute of each of said standard actions having at least one attribute is stored. In this case, the process generation module may be configured to: establish each of the one or more components based on the standard actions and their attributes stored in the standard action-attribute library, and create each of the one or more components according to the predetermined The one or more components are sequenced to generate the operational flow.

In one embodiment, the method for customizing a scheduling system for a robot of the present invention further includes providing a standard component library, which is used to store a plurality of predefined standard components, each standard component defining a standard action sequence . In this case, the process generation module may be configured to: when generating the operation process, directly use one or more standard components stored in the standard component library as all At least some of the components.

The above-mentioned standard action-attribute library and/or standard component library can be authorized to the end user of the robot, so that the standard action-attribute library and/or standard component library in the standard action-attribute library can be selected on the end user side through the human-computer interaction interface of the robot The standard components in are used to orchestrate operational processes.

The method of customizing a scheduling system for robots of the present invention may optionally include at least some of the following steps and features:

- The step of providing a customized dispatch system to an end user of a robot, wherein an operation procedure for said robot is generated using said procedure generation module before said dispatch system is provided to an end user of said robot.

- the operation process is based on the expected application scenario of the robot, each component included in the operation process has an associated target point in the expected application scenario, and is related to the type of the target point and/or or business requirements.

- a step of setting a process editing interface for the process generating module, the process editing interface is used to receive user input associated with editing an operation process, and the process generating module is configured to: receive and edit via the process editing interface user input associated with an operational procedure; and, in response thereto, editing said operational procedure that has been generated.

- A step of setting an attribute value receiving interface for the process generation module, the attribute value receiving interface being used to receive attribute values from an external system cooperating with the robot.

- a step of configuring a verification module for the scheduling system, the verification module being configured to verify at least one operation included in the operation process, at least one component and/or the execution status of the operation process to generate a verification result, and the The verification results are provided to the human-computer interaction interface of the robot for presentation.

Those of ordinary skill in the art should understand that the schematic diagrams shown in Figures 1 and 2 are only exemplary illustrations of some structures related to the solution of the present invention, and do not constitute a computer device or processor embodying the solution of the present invention. or as defined by computer program instructions. A specific computer device, processor or computer program instructions may include more or fewer components or modules than shown in the figures, or some components or modules may be combined or split, or may have a different arrangement of components or modules.

It should be understood that the specific features, operations and details previously described herein with respect to the scheduling system of the present invention may also be similarly applied to the method of the present invention, or vice versa. In addition, each step of the dispatching method of the present invention described above can be executed by corresponding components or units of the dispatching system of the present invention.

It should be understood that each module/unit of the scheduling system for robots of the present invention may be fully or partially realized by software, hardware, firmware or a combination thereof. Each of the modules/units can be embedded in the processor of the computer device in the form of hardware or firmware or independent of the processor, and can also be stored in the memory of the computer device in the form of software for the processor to call to execute the various modules. Operation of modules/units. Each of the modules/units may be realized as an independent component or module, or two or more modules/units may be realized as a single component or module.

In one embodiment, there is provided a computer device comprising a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instructing the processing The device performs the steps of the method of the present invention. The computer device may broadly be a server, a terminal, or any other electronic device with necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary calculation, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of the computer equipment can be used to connect and communicate with external equipment through the network. The computer program executes the steps of the method of the present invention when executed by a processor.

The invention can be implemented as a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the steps of the method of the invention to be performed. In one embodiment, the computer instructions are distributed over a plurality of computer devices or processors coupled over a network such that the computer instructions are stored, accessed and executed in a distributed fashion by one or more computer devices or processors . A single method step/operation, or two or more method steps/operations, may be performed by a single computing device or processor or by two or more computing devices or processors. One or more method steps/actions may be performed by one or more computing devices or processors, and one or more other method steps/operations may be performed by one or more other computing devices or processors. One or more computer devices or processors may perform a single method step/action, or two or more method steps/operations.

Those skilled in the art can understand that all or part of the steps of the method of the present invention can be completed by computer instructions to instruct related hardware such as computer equipment or processors, and the computer instructions can be stored in a non-transitory computer-readable storage medium In this case, the computer instructions, when executed, cause the steps of the method of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of nonvolatile memory include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data Storage devices, optical data storage devices, hard drives, solid state drives, etc. Examples of volatile memory include random access memory (RAM), external cache memory, and the like.

The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features have been described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such a combination.

Although the present invention has been described in conjunction with the embodiments, those skilled in the art should understand that the above description and drawings are only illustrative and not restrictive, and the present invention is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.

Claims

A scheduling system for robots, comprising:

a flow generation module configured to generate an operation flow for the robot, the operation flow includes one or more components arranged in a predetermined order, each of the components includes an operation sequence formed by a plurality of operations, at least in part each of said operations has at least one attribute, each of said attributes has an attribute value; and

The process engine is configured to issue instructions based on the generated operation process to control the robot to operate according to the operation process.
The dispatching system according to claim 1, wherein said operation process is based on an expected application scenario of said robot, each said component has an associated target point in said expected application scenario, and is connected to said Depending on the type of target site and/or business requirements.
The scheduling system according to claim 1, wherein the generation of the operation flow is triggered by a trigger event, and the trigger event includes: the flow generation module receives a user input associated with generating the operation flow.
The scheduling system according to claim 1, wherein the procedure generation module is further configured to: receive user input associated with editing an operation procedure; and, in response thereto, edit the generated operation procedure.
The scheduling system according to any one of claims 1-4, wherein each said operation corresponds to a predefined standard action, said at least one attribute of each said operation having at least one attribute is the To operate part or all of the attributes of the corresponding standard actions, the scheduling system further includes a standard action-attribute library, the standard action-attribute library is used to store a plurality of predefined standard actions and store each of the Each attribute of a standard action, wherein the process generation module is configured to: establish each of the one or more components based on the standard action and its attributes stored in the standard action-attribute library, and Arranging the one or more components in the predetermined order to generate the operational flow.
The scheduling system according to any one of claims 1-4, wherein the process generation module has an attribute value receiving interface, and the attribute value receiving interface is used to receive attribute values from an external system cooperating with the robot.
The dispatching system according to any one of claims 1-4, wherein the dispatching system further comprises:

A verification module configured to verify at least one of the operations, at least one of the components and/or the execution status of the operation process to generate a verification result, and provide the verification result to the human-computer interaction interface of the robot for presented.
A robot comprising the dispatching system according to any one of claims 1-7.
A scheduling method for a robot comprising:

generating an operational flow for said robot, said operational flow comprising one or more components arranged in a predetermined order, each said component comprising a sequence of operations formed by at least some of said operations has at least one attribute, each of said attributes having an attribute value; and

An instruction is issued based on the generated operation flow to control the robot to operate according to the operation flow.
The scheduling method according to claim 9, wherein the operation process is based on an expected application scenario of the robot, each of the components has an associated target point in the expected application scenario, and is related to the Depending on the type of target site and/or business requirements.
The scheduling method according to claim 9, wherein the generation of the operation flow is triggered by a trigger event, and the trigger event includes: receiving a user input associated with generating the operation flow.
The scheduling method according to claim 9, wherein the scheduling method further comprises: receiving user input associated with editing an operation procedure; and, in response thereto, editing the generated operation procedure.
The scheduling method according to any one of claims 9-12, wherein each said operation corresponds to a predefined standard action, said at least one attribute of each said operation having at least one attribute is the Operating some or all of the attributes of the corresponding standard action, wherein generating the operation flow includes: establishing each of the one or more components based on the standard actions and their attributes stored in the standard action-attribute library , and arranging the one or more components in the predetermined order to generate the operation process, the standard action-attribute library is used to store a plurality of predefined standard actions and store each of the standard actions Attributes.
The scheduling method according to any one of claims 9-12, wherein generating the operation flow comprises: receiving attribute values from an external system cooperating with the robot.
The scheduling method according to any one of claims 9-12, wherein the scheduling method further comprises: verifying the execution status of at least one of the operations, at least one of the components and/or the operation process to generate a verification results, and providing the verification results to a human-computer interaction interface of the robot for presentation.
A computer device comprising a memory and a processor, the memory having stored thereon computer instructions which, when executed by the processor, cause the scheduling method according to any one of claims 9 to 15 to be performed .
A non-transitory computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the scheduling method according to any one of claims 9-15 to be executed.
A method of customizing a scheduling system for a robot, comprising:

Create a flow generation module configured to generate an operation flow for the robot, the operation flow includes one or more components arranged in a predetermined order, each of the components includes a plurality of operations formed a sequence of operations, at least some of said operations each having at least one attribute, each of said attributes having an attribute value; and,

creating a process engine configured to issue instructions based on the generated operation process to control the robot to operate according to the operation process,

Wherein, the scheduling system includes the process generation module and the process engine.
The method of claim 18, further comprising: providing the dispatch system customized to an end user of the robot, wherein prior to providing the dispatch system to the end user of the robot, utilizing the process The generation module generates an operation procedure for the robot.
The method according to claim 19, wherein said operating procedure is based on an intended application scenario of said robot, each said component has an associated target point in said expected application scenario, and is connected to said target Depending on the type of site and/or business requirements.
The method according to claim 19, further comprising: setting a process editing interface for the process generating module, the process editing interface is used to receive user input associated with editing an operation process, wherein the process generating module is further configured To: receive user input associated with editing an operational procedure via the procedure editing interface; and, in response thereto, edit the generated operational procedure.
The method according to any one of claims 18-21, further comprising:

providing a standard action-attribute library for storing a plurality of predefined standard actions and storing each attribute of each standard action having at least one attribute, wherein each said operation corresponds to a predefined A defined standard action, the at least one attribute of each operation having at least one attribute is part or all of the attributes of the standard action corresponding to the operation, and the process generation module is configured to: based on the The standard actions and their attributes in the standard action-attribute library establish each of the one or more components, and arrange the one or more components in the predetermined order to generate the operation flow.
The method according to any one of claims 18-21, further comprising: setting an attribute value receiving interface for the process generation module, the attribute value receiving interface being used to receive an attribute value from an external system cooperating with the robot .
The method according to any one of claims 18-21, further comprising configuring the dispatching system with a verification module configured to verify at least one of the operations, at least one of the components and/or all The execution status of the operation process is analyzed to generate a verification result, and the verification result is provided to the human-computer interaction interface of the robot for presentation.