WO2023035755A1 - 用于多个机器人的任务处理方法、装置及系统、机器人 - Google Patents
用于多个机器人的任务处理方法、装置及系统、机器人 Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Definitions
- the present disclosure relates to the field of computer technology, and in particular to a task processing method, device and system for multiple robots, a robot, and a computer storage medium.
- a robot refers to a machine device that automatically performs a series of complex operations or work by accepting instructions and following a preset program.
- Logistics robots refer to robots used in warehousing, sorting centers, and cargo transfer, handling and other operations in scenarios such as cargo transportation. Logistics robots are also gradually considered as an important intelligent infrastructure in the process of digitization and automation of logistics and supply chain related enterprises.
- the robot periodically reports the position of the robot to the console through the WIFI network to maintain a heartbeat connection with the console, and the console sends task information corresponding to the current task to each robot through the WIFI network.
- a task processing method for a plurality of robots executed by a task processing device, wherein a first communication module is deployed in the task processing device and the plurality of robots, The first communication module is used for two-way communication between the robot and the task processing device, and the plurality of robots also includes a second communication module, the second communication module is used for two-way communication between robots, the
- the task processing method includes: when it is detected that the heartbeat connection between at least one robot and the task processing device is disconnected, marking the at least one robot as a lost connection robot; acquiring the historical position and The current position of an unlost robot among the plurality of robots, the unlost robot is a robot that maintains a heartbeat connection with the task processing device; for each unlost robot, according to the historical position of the unlost robot and the current position of the unlost robot, from the plurality of robots, determine the target sending robot corresponding to each of the unlost robots, the target sending robot includes
- determining the target sending robot corresponding to each of the lost-connection robots includes: When the distances between the positions are greater than the distance threshold, obtain the historical positions of other lost robots except each lost robot; The distance between the historical positions of the connected robots is less than or equal to the distance threshold other lost robots, as candidate lost robots; according to the historical positions of the candidate lost robots and the current position of the non-lost robot, determine A non-lost robot whose distance between the current position and the historical position of the candidate lost robot is less than or equal to the distance threshold is used as a candidate non-lost robot; Among the connected robots, a target lost connection robot and a target unconnected robot corresponding to each lost connection robot are determined as the target sending robot.
- sending the task information of the current task of each lost-connected robot to each lost-connected robot through the target sending robot includes: sequentially passing the target un-lost connected robot, the target The disconnected robot sends task information of the current task to each disconnected robot.
- the task processing method further includes: sending the task information of the current task of the target lost robot to the target lost robot through the target unconnected robot.
- the task processing method further includes: from the plurality of robots, determining a target receiving robot corresponding to each lost contact robot, and the target receiving robot is used to receive the The execution result of the current task sent by each disconnected robot; the execution result of the current task is received through the target receiving robot, and the target receiving robot includes a non-disconnected robot.
- receiving the execution result of the current task through the target receiving robot includes: receiving the current task sent by the target receiving robot in the case that the target receiving robots are all connected robots.
- the execution result of the task in the case that the target receiving robot includes a lost-connection robot and a non-lost-connected robot, sequentially pass through the lost-connection robot in the target receiving robot and the non-lost-connection robot in the target receiving robot, receive The execution result of the current task.
- the target receiving robot and the target sending robot are completely identical, partially identical or completely different.
- determining the target sending robot corresponding to each of the lost-connection robots includes: comparing the current position of at least one un-lost-connected robot with the distance between each lost-connection robot When the distance between the historical positions is less than or equal to the distance threshold, from the at least one unlost robot, determine a target sending robot corresponding to each of the unlost robots.
- determining the target sending robot corresponding to each of the unlost robots includes: determining the difference between the current position and the at least one unlost robot.
- the unlost robot with the shortest distance between the historical positions of each unconnected robot is used as the target sending robot corresponding to each unconnected robot.
- the difference between the wireless propagation distance of the second communication module and the wireless propagation distance of the first communication module is greater than a difference threshold, and the difference and the difference Value thresholds are all positive numbers.
- the current task is a car-following task
- the second communication module is also used for exchanging real-time motion parameters, location and road condition information between robots performing the car-following task.
- the motion parameters include at least one of velocity, acceleration and direction.
- the first communication module is a WIFI module
- the second communication module is a long-range radio LORA module.
- a task processing device for a plurality of robots wherein a first communication module is deployed in the task processing device and the plurality of robots, and the first communication module uses For the two-way communication between the robot and the task processing device, the plurality of robots also include a second communication module, the second communication module is used for two-way communication between the robots, and the task processing device includes: a marking module , configured to mark the at least one robot as a disconnected robot when it is detected that the heartbeat connection between the at least one robot and the task processing device is disconnected; the obtaining module is configured to obtain the disconnected The historical position of the robot and the current position of an undisconnected robot among the plurality of robots, the undisconnected robot is a robot that maintains a heartbeat connection with the task processing device; the determination module is configured to The robot determines, from the multiple robots, a target sending robot corresponding to each of the lost-connection robots according to the historical position of the lost-connection robot and the current position of the
- a task processing method for a plurality of robots includes a first communication module and a second communication module, and the first communication module is used for a robot and a task processing device
- the two-way communication between the first communication module, the second communication module is used for two-way communication between robots
- the task processing method is executed by any robot
- the task processing method includes: in any robot If the heartbeat connection with the task processing device is not disconnected and any robot is determined to be the target sending robot corresponding to the lost robot, receive the sending robot sent by the task processing device through the first communication module.
- the task information of the current task of the lost connection robot and send the received task information to the lost connection robot through the second communication module, wherein the lost connection robot is between the task processing device
- the robot whose heartbeat connection is disconnected; when the heartbeat connection between any robot and the task processing device is disconnected, receive the target sending robot corresponding to any robot through the second communication module
- the task information of the current task sent by the any robot, the target sending robot includes a robot that has not lost contact; the heartbeat connection between the any robot and the task processing device is disconnected and the any robot
- the task of the current task of the other lost-connection robot sent by the other target sending robot is received through the second communication module information, and send the received task information to the other lost-connection robots, and the other target-sending robots include not-lost-connected robots.
- the distance between at least one of the target sending robots and its corresponding lost-connection robot is less than or equal to the distance threshold.
- the distance between any two adjacent target sending robots on a serial path in the path is less than or equal to the distance threshold.
- a robot including: a first communication module configured to perform two-way communication with a first communication module of a task processing device; a second communication module configured to communicate with a first communication module of another robot Two communication modules perform two-way communication; wherein, when the heartbeat connection between the robot and the task processing device is not broken and the robot is determined to be the target sending robot corresponding to the lost contact robot, through the The first communication module receives the task information of the current task of the lost robot sent by the task processing device, and sends the received task information to the lost robot through the second communication module, wherein the lost The linked robot is a robot whose heartbeat connection with the task processing device is disconnected; when the heartbeat connection between the robot and the task processing device is disconnected, the robot receives and communicates with the task processing device through the second communication module.
- the task information of the robot's current task sent by the target sending robot corresponding to the robot, the target sending robot includes a robot that has not lost contact; the heartbeat connection between the robot and the task processing device is disconnected and the
- the second communication module receives information about the current tasks of the other lost-connection robots sent by the other target sending robots.
- task information, and send the received task information to the other lost-connection robots, and the other target-sending robots include the not-lost-connected robots.
- the distance between at least one of the target sending robots and its corresponding lost-connection robot is less than or equal to the distance threshold.
- the distance between any two adjacent target sending robots on the series path in the series path is less than or equal to the distance threshold.
- an electronic device including: a memory; and a processor coupled to the memory, the processor is configured to execute any of the above-mentioned The task processing method for multiple robots described in the embodiment.
- a task processing system for multiple robots comprising: the task processing device described in any one of the above embodiments.
- the task processing system further includes: a target sending robot configured to receive the task information of the current task of each lost robot from the task processing device through the first communication module, and transmit the task information through the second communication module The module sends the task information of the current task to each of the lost-connection robots.
- a computer-storable medium on which computer program instructions are stored, and when the instructions are executed by a processor, the task processing method for multiple robots described in any of the above-mentioned embodiments is implemented .
- FIG. 1 is a flowchart illustrating a task processing method for a plurality of robots according to some embodiments of the present disclosure
- Fig. 2 is a flow chart illustrating determining a target sending robot according to some embodiments of the present disclosure
- FIG. 3 is a schematic diagram illustrating the positions of a plurality of robots according to some embodiments of the present disclosure
- Fig. 4 is a schematic diagram illustrating positions of a plurality of robots according to other embodiments of the present disclosure
- FIG. 5 is a block diagram illustrating a task processing apparatus for a plurality of robots according to some embodiments of the present disclosure
- FIG. 6 is a schematic structural diagram illustrating a robot according to some embodiments of the present disclosure.
- FIG. 7 is a block diagram illustrating an electronic device according to some embodiments of the present disclosure.
- FIG. 8 is a block diagram illustrating a task processing system for multiple robots according to some embodiments of the present disclosure
- Figure 9 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.
- the WIFI network is unstable. Once the robot loses connection, the console cannot send the task information of the current task to the robot through the WIFI network, resulting in discontinuous task processing of the robot and a low success rate of task processing. .
- the present disclosure proposes a task processing method, which can ensure the continuity of task processing by the robot and improve the success rate of task processing.
- FIG. 1 is a flowchart illustrating a task processing method for a plurality of robots according to some embodiments of the present disclosure.
- the task processing method is executed by the task processing device.
- Both the task processing device and the plurality of robots are deployed with a first communication module, and the first communication module is used for two-way communication between the robot and the task processing device.
- the plurality of robots also includes a second communication module for two-way communication between the robots.
- the task processing device is a console.
- the robot is a logistics robot or a logistics trolley.
- the task processing method based on multiple robots includes step S10-step S40.
- step S10 when it is detected that the heartbeat connection between at least one robot and the task processing device is disconnected, at least one robot is marked as a disconnected robot.
- the heartbeat connections in this disclosure are all heartbeat connections based on the first communication module.
- the task processing device does not receive the heartbeat message of the robot within a predetermined time period, the heartbeat connection between the robot and the task processing device is disconnected.
- the predetermined duration is 500 milliseconds.
- step S20 the historical position of the lost robot and the current position of the undisconnected robot among the plurality of robots are acquired.
- a robot that has not lost contact is a robot that maintains a heartbeat connection with the task processing device.
- the task processing device acquires the last reported historical position of the lost robot before losing contact from the database.
- the real-time location of the unlost robot is obtained as the current location through the heartbeat message.
- the task processing device receives the heartbeat message through the first communication module.
- step S30 for each lost-connection robot, according to the historical position of the lost-connection robot and the current position of the un-lost-connected robot, a target sending robot corresponding to each lost-connection robot is determined from a plurality of robots.
- the target sending robot includes the robot that has not lost contact.
- step S30 may be implemented through the steps shown in FIG. 2 .
- FIG. 2 is a flowchart illustrating targeting a sending bot according to some embodiments of the present disclosure.
- determining the target sending robot includes steps S31 to S34.
- step S31 when the distance between the current position of the unlost robot and the historical position of each lost robot is greater than the distance threshold, obtain the historical positions of other lost robots except each lost robot .
- the last historical position reported by other lost-connection robots via heartbeat messages is obtained from the database.
- step S32 according to the historical positions of other lost robots, other lost robots whose historical positions are less than or equal to the distance threshold are determined as candidate lost robots.
- step S33 according to the historical position of the candidate lost robot and the current position of the non-lost robot, determine the non-lost robot whose distance between the current position and the historical position of the candidate lost robot is less than or equal to the distance threshold, as a candidate No missing robot.
- step S34 from the candidate lost robots and the candidate undisconnected robots, a target unconnected robot and a target undisconnected robot corresponding to each unconnected robot are determined as target sending robots.
- all candidate lost-connection robots and candidate non-lost-connection robots may be determined as the target lost-connection robot and the target non-lost-connection robot, respectively.
- the candidate lost robot closest to each lost robot may also be used as the target lost robot, and the candidate undisconnected robot closest to the target unconnected robot may be used as the target undisconnected robot.
- the current task can be forwarded in conjunction with the unconnected robot, so as to realize the continuity of tasks and improve the success rate of task processing.
- FIG. 3 is a schematic diagram showing positions of a plurality of robots according to some embodiments of the present disclosure.
- robots 0, a, and b are all disconnected and become disconnected robots, and robots A, B, and C are not disconnected robots.
- the distances between robots a and b and robot 0 are less than or equal to the distance threshold, while the distances between robots A, B, and C and robot 0 are greater than the distance threshold.
- the distance between robot a, b and robot A is less than or equal to the distance threshold, but the distance between robot B and C is greater than the distance threshold.
- robots a and b are selected as candidate lost robots, and robot A is selected as a candidate not lost robot.
- the robot a closest to robot 0 may be used as the target lost robot.
- Robot A is the target robot that has not lost contact.
- Robot a and robot A jointly serve as the target sending robot.
- the distance between the current position of at least one unlost robot and the historical position of each unlost robot is less than or equal to a distance threshold
- determine the Each missing robot corresponds to the target sending robot. For example, from at least one undisconnected robot, determine the undisconnected robot with the shortest distance between the current position and the historical position of each undisconnected robot, and use it as a target sending robot corresponding to each undisconnected robot.
- Fig. 4 is a schematic diagram illustrating positions of a plurality of robots according to other embodiments of the present disclosure.
- robot 0 lost contact, and robots D, E, and F were not lost.
- the distances between robots D and E and robot 0 are less than or equal to the distance threshold, while the distance between robot F and robot 0 is greater than the distance threshold.
- robot D is closer to robot 0 and robot D is determined as the target sending robot.
- step S40 the task information of the current task of each unconnected robot is sent to each unconnected robot through the target sending robot.
- the task information includes the identification of the robot performing the current task and task content.
- the task information of the current task is sent to each lost-connection robot through the target non-connected robot and the target lost-connection robot in sequence.
- the task processing device sends the task information of the current task of robot 0 to robot A through the first communication module.
- robot A receives the task information of the current task through the first communication module, and finds that the robot identifier in the task information of the current task does not belong to robot A, it sends the task information of the current task to robot a through the second communication module.
- robot a finds that the robot identifier in the task information of the current task does not belong to robot a, and sends the task information of the current task to robot 0 through the second communication module. So far, the task processing device has sent the task information of the current task of robot 0 to robot 0 through robot A and robot a in sequence.
- the task information of the current task is directly sent to each lost connection robot through the connected robot among the target sending robots.
- the task processing device sends the task information of the current task of the robot 0 to the robot D through the first communication module.
- robot D After receiving the task information of the current task through the first communication module, robot D finds that the robot identifier in the task information of the current task does not belong to robot D, and sends the task information of the current task to robot 0 through the second communication module.
- the task processing device can also send the task information of the current task of the target lost robot to the target lost robot through the target non-lost robot.
- the character processing device sends the task information of the current task of the target lost connection robot to the target unconnected robot through the first communication module, and then the target unconnected robot sends the task information of the current task of the target unconnected robot through the second communication module to the target lost robot.
- the current tasks of multiple lost-connection robots can be delivered to the corresponding lost-connection robots, thereby improving the efficiency of task delivery by the task processing device, and further improving the continuity of task processing.
- the difference between the wireless propagation distance of the second communication module and the wireless propagation distance of the first communication module is greater than the difference threshold, where the difference and the difference threshold are both A positive number. That is, the wireless propagation distance of the second communication module is greater than the wireless propagation distance of the first communication module.
- the first communication module is a WIFI module
- the second communication module is a LORA (Long Range Radio, long-distance radio) module.
- the second communication module is also used for exchanging real-time motion parameters, location and road condition information between robots performing the car-following task.
- the motion parameters include at least one of speed, acceleration and motion direction.
- the data transmission of the car-following task can be carried out through the second communication module with a longer wireless transmission distance, which can improve the success rate of the car-following task and ensure safe driving between robots.
- a target receiving robot corresponding to each lost robot is determined from the plurality of robots. Receive the execution result of the current task through the target receiving robot.
- Target receiving robots include robots that have not lost contact. The target receiving robot is used to receive the execution result of the current task sent by each lost contact robot through the second communication module.
- the specified time is the average time for each lost robot to perform a task similar to the current task in a historical time period.
- the step of determining the target receiving robot corresponding to each lost-connected robot is similar to the step of determining the target sending robot, which will not be repeated here. It should be specially noted that when determining the target receiving robot, it is necessary to reacquire the current position of the robot that has not lost contact and the historical position of the robot that has lost contact at that moment.
- the execution result of the current task sent by the target receiving robot is received.
- the target receiving robot includes a lost robot and a non-lost robot
- the execution result of the current task is received sequentially through the lost robot among the target receiving robots and the non-lost robot among the target receiving robots.
- each lost robot sends the execution result of the current task to the second communication module of the lost robot in the target receiving robot through the second communication module, and then the lost robot in the target receiving robot passes the second communication module.
- Module sent to the second communication module of the undisconnected robot in the target receiving robot, and then sent to the task processing device by the undisconnected robot in the target receiving robot through the first communication module.
- the target receiving robot can also forward the heartbeat information, current location information, and motion parameter information of each lost robot.
- the target receiving robot and the target sending robot are identical, partially identical, or completely different.
- the target sending robots are robots 1, 2, and 3, and the target receiving robots may be robots 1, 2, and 3, or robots 2, 3, and 4, or robots 4, 5, and 6.
- the task processing device also periodically monitors whether the heartbeat connection of each lost robot is restored, and if it detects that the heartbeat connection of a lost robot is restored, the lost robot is remarked as unconnected. lose contact with the robot, and send mission information to the robot through the first communication module.
- the first communication module for two-way communication with the task processing device is deployed in the robot, and the second communication module for two-way communication with other robots is also deployed.
- the undisconnected robot can be used as an intermediate device to send the task information of the current task to the corresponding lost connection robot. In this way, the continuity of task processing by the robot can be guaranteed, and the success rate of task processing can be improved.
- FIG. 5 is a block diagram illustrating a task processing apparatus for a plurality of robots according to some embodiments of the present disclosure. Both the task processing device and the plurality of robots are deployed with a first communication module, and the first communication module is used for two-way communication between the robot and the task processing device. The plurality of robots also includes a second communication module for two-way communication between the robots.
- the task processing device 51 for multiple robots includes a marking module 511 , an acquiring module 512 , a determining module 513 and a sending module 514 .
- the marking module 511 is configured to mark at least one robot as a disconnected robot when detecting that the heartbeat connection between the at least one robot and the task processing device is disconnected, for example, perform step S10 as shown in FIG.
- the acquisition module 512 is configured to acquire the historical position of the lost robot and the current position of the undisconnected robot among the plurality of robots, for example, execute step S20 as shown in FIG. 1 .
- a robot that has not lost contact is a robot that maintains a heartbeat connection with the task processing device.
- the determination module 513 is configured to, for each lost robot, determine a target sending robot corresponding to each lost robot from a plurality of robots according to the historical position of the lost robot and the current position of the undisconnected robot, for example, execute Step S30 as shown in FIG. 1 .
- the target sending robot includes the robot that has not lost contact.
- the sending module 514 is configured to send the task information of the current task of each unconnected robot to each unconnected robot through the target sending robot, for example, execute step S40 as shown in FIG. 1 .
- the present disclosure also provides a task processing method for a plurality of robots, the task processing method being performed by any robot.
- the plurality of robots includes a first communication module and a second communication module.
- the first communication module is used for two-way communication between the robot and the first communication module of the task processing device.
- the second communication module is used for two-way communication between robots.
- the first communication module is a WIFI module
- the second communication module is a LORA module.
- the information of the lost robot sent by the task processing device is received through the first communication module.
- task information of the current task and send the received task information to the lost robot through the second communication module.
- a lost robot is a robot whose heartbeat connection with the task processing device has been disconnected.
- the task information of the current task of any robot sent by the target sending robot corresponding to any robot is received through the second communication module.
- the target sending robot includes the robot that has not lost contact.
- the second communication module receives other The target sends the task information of other lost-connected robots sent by the robot, and sends the received task information to other lost-connected robots.
- Other target-sending bots include bots that have not lost contact.
- the first communication module when the heartbeat connection between any robot and the task processing device is not disconnected and the any robot is not determined to be the target sending robot corresponding to the lost robot, the first communication module receives The task information of the current task of any robot sent by the task processing device. In some embodiments, the any robot also performs the received current task itself.
- the distance between at least one target sending robot and its corresponding lost-connection robot is less than or equal to a distance threshold.
- the distance between any two adjacent target sending robots on a serial path in the serial path formed by the multiple target sending robots is less than or equal to the distance threshold.
- the first communication module for two-way communication with the task processing device is deployed in the robot, and the second communication module for two-way communication with other robots is also deployed, so that the robot is in different states.
- Task information can be received.
- the task processing device cannot send the task information of the current task to the lost robot.
- the task information is forwarded to the corresponding lost robot. In this way, the continuity of task processing by the robot can be guaranteed, and the success rate of task processing can be improved.
- the logic of the target receiving bot is similar to that of the target sending bot.
- Fig. 6 is a schematic diagram showing the structure of a robot according to some embodiments of the present disclosure.
- the robot 62 includes a first communication module 621 and a second communication module 622 .
- the first communication module 621 is configured to perform two-way communication with the first communication module of the task processing device.
- the task processing device is a console or a controller.
- the second communication module 622 is configured to perform two-way communication with second communication modules of other robots.
- the current task information of the lost robot sent by the task processing device is received through the first communication module task information, and send the received task information to the lost robot through the second communication module.
- a lost robot is a robot whose heartbeat connection with the task processing device has been disconnected.
- the task information of the current task of the robot sent by the target sending robot corresponding to the robot is received through the second communication module.
- the target sending robot includes the robot that has not lost contact.
- the second communication module receives the information sent by the other target sending robots.
- the task information of the current task of other lost robots and send the received task information to other lost robots.
- Other target-sending bots include bots that have not lost contact.
- the task processing device when the heartbeat connection between the robot and the task processing device is not disconnected and the robot is not determined to be the target sending robot corresponding to the lost contact robot, the task processing device sends a message sent by the task processing device through the first communication module.
- the task information of the robot's current task In some embodiments, the robot also performs the received current task itself.
- the distance between at least one target sending robot and its corresponding lost-connection robot is less than or equal to a distance threshold.
- the distance between any two adjacent target sending robots on a serial path in the serial path formed by the multiple target sending robots is less than or equal to the distance threshold.
- the first communication module for two-way communication with the task processing device is deployed in the robot, and the second communication module for two-way communication with other robots is also deployed, so that the robot is in different states.
- Task information can be received.
- the task processing device cannot send the task information of the current task to the lost robot.
- the task information is forwarded to the corresponding lost robot. In this way, the continuity of task processing by the robot can be guaranteed, and the success rate of task processing can be improved.
- FIG. 7 is a block diagram illustrating an electronic device according to some embodiments of the present disclosure.
- the electronic device 71 includes a memory 711 ; and a processor 712 coupled to the memory 711 .
- the memory 711 is used to store instructions for executing the corresponding embodiment of the task processing method for multiple robots.
- the processor 712 is configured to, based on the instructions stored in the memory 711 , execute the task processing method for multiple robots in any embodiments of the present disclosure.
- FIG. 8 is a block diagram illustrating a task processing system for multiple robots according to some embodiments of the present disclosure.
- the task processing system 8 includes a task processing device 81 .
- the task processing device 81 is, for example, the task processing device 51 .
- task handling system 8 also includes a target delivery robot 82 .
- the target sending robot 82 is configured to receive the task information of the current task of each lost robot from the task processing device through the first communication module, and send the task information of the current task to each lost robot through the second communication module.
- target delivery bot 82 includes one or more bots.
- task handling system 8 further includes a target receiving robot 83 .
- the target receiving robot 83 is configured to receive the execution result of the current task sent by each disconnected robot through the second communication module, and send the execution result of the current task to the task processing device 81 through the first communication module.
- target receiving robot 83 includes one or more robots.
- Figure 9 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.
- Computer system 90 may take the form of a general-purpose computing device.
- Computer system 90 includes memory 910, processor 920, and bus 900 that connects the various system components.
- the memory 910 may include, for example, a system memory, a non-volatile storage medium, and the like.
- the system memory stores, for example, an operating system, an application program, a boot loader (Boot Loader) and other programs.
- System memory may include volatile storage media such as random access memory (RAM) and/or cache memory.
- RAM random access memory
- a non-volatile storage medium for example, stores instructions for executing at least one corresponding embodiment of at least one task processing method for a plurality of robots.
- Non-volatile storage media include, but are not limited to, magnetic disk storage, optical storage, flash memory, and the like.
- the processor 920 can be realized by means of discrete hardware components such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates, or transistors. accomplish.
- each module such as the judging module and the determining module, can be implemented by executing instructions in the memory of the central processing unit (CPU) to execute corresponding steps, or can also be implemented by a dedicated circuit that executes corresponding steps.
- Bus 900 may use any of a variety of bus structures.
- bus structures include, but are not limited to, Industry Standard Architecture (ISA) buses, Micro Channel Architecture (MCA) buses, Peripheral Component Interconnect (PCI) buses.
- ISA Industry Standard Architecture
- MCA Micro Channel Architecture
- PCI Peripheral Component Interconnect
- the computer system 90 may also include an input and output interface 930, a network interface 940, a storage interface 950, and the like. These interfaces 930 , 940 , and 950 , as well as the memory 910 and the processor 920 may be connected through a bus 900 .
- the input and output interface 930 may provide a connection interface for input and output devices such as a monitor, a mouse, and a keyboard.
- the network interface 940 provides a connection interface for various networked devices.
- the storage interface 950 provides connection interfaces for external storage devices such as floppy disks, U disks, and SD cards.
- These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine such that execution of the instructions by the processor produces the processes implemented in one or more blocks of the flow diagrams and/or block diagrams. device for the specified function.
- These computer-readable program instructions can also be stored in the computer-readable memory, and these instructions cause the computer to operate in a specific manner, thereby producing an article of manufacture, including implementing the functions specified in one or more blocks in the flowchart and/or block diagram instructions.
- the disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
- the continuity of task processing by robots can be ensured, and the success rate of task processing can be improved.
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Abstract
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Claims (23)
- 一种用于多个机器人的任务处理方法,由任务处理装置执行,其中,所述任务处理装置和所述多个机器人中均部署有第一通信模块,所述第一通信模块用于机器人与所述任务处理装置之间的双向通信,所述多个机器人还包括第二通信模块,所述第二通信模块用于机器人之间的双向通信,所述任务处理方法包括:在监测到至少一个机器人与所述任务处理装置之间的心跳连接断开的情况下,将所述至少一个机器人标记为失联机器人;获取所述失联机器人的历史位置和所述多个机器人中的未失联机器人的当前位置,所述未失联机器人为与所述任务处理装置保持心跳连接的机器人;针对每个失联机器人,根据所述失联机器人的历史位置和所述未失联机器人的当前位置,从所述多个机器人中,确定与所述每个失联机器人相应的目标发送机器人,所述目标发送机器人包括未失联机器人;通过所述目标发送机器人,发送所述每个失联机器人的当前任务的任务信息到所述每个失联机器人。
- 根据权利要求1所述的任务处理方法,其中,从所述多个机器人中,确定与所述每个失联机器人相应的目标发送机器人包括:在所述未失联机器人的当前位置与所述每个失联机器人的历史位置之间的距离均大于距离阈值的情况下,获取除所述每个失联机器人以外的其他失联机器人的历史位置;根据所述其他失联机器人的历史位置,确定历史位置与所述失联机器人的历史位置之间的距离小于或等于所述距离阈值的其他失联机器人,作为候选失联机器人;根据所述候选失联机器人的历史位置和所述未失联机器人的当前位置,确定当前位置与所述候选失联机器人的历史位置之间的距离小于或等于所述距离阈值的未失联机器人,作为候选未失联机器人;分别从所述候选失联机器人和所述候选未失联机器人中,确定与所述每个失联机器人相应的目标失联机器人和目标未失联机器人,作为所述目标发送机器人。
- 根据权利要求2所述的任务处理方法,其中,通过所述目标发送机器人,发送所述每个失联机器人的当前任务的任务信息到所述每个失联机器人包括:依次通过所述目标未失联机器人、所述目标失联机器人发送所述当前任务的任务信息到所述每个失联机器人。
- 根据权利要求2或3所述的任务处理方法,还包括:通过所述目标未失联机器人,发送所述目标失联机器人的当前任务的任务信息到所述目标失联机器人。
- 根据权利要求1所述的任务处理方法,还包括:从所述多个机器人中,确定与所述每个失联机器人相应的目标接收机器人,所述目标接收机器人用于通过第二通信模块接收所述每个失联机器人发送的所述当前任务的执行结果;通过所述目标接收机器人,接收所述当前任务的执行结果,所述目标接收机器人包括未失联机器人。
- 根据权利要求5所述的任务处理方法,其中,通过所述目标接收机器人,接收所述当前任务的执行结果包括:在所述目标接收机器人均为未失联机器人的情况下,接收所述目标接收机器人发送的所述当前任务的执行结果;在所述目标接收机器人包括失联机器人和未失联机器人的情况下,依次通过所述目标接收机器人中的失联机器人、所述目标接收机器人中的未失联机器人,接收所述当前任务的执行结果。
- 根据权利要求5所述的任务处理方法,其中,所述目标接收机器人和所述目标发送机器人完全相同、部分相同或完全不同。
- 根据权利要求1所述的任务处理方法,其中,从所述多个机器人中,确定与所述每个失联机器人相应的目标发送机器人包括:在存在至少一个未失联机器人的当前位置与所述每个失联机器人的历史位置之间的距离小于或等于距离阈值的情况下,从所述至少一个未失联机器人中,确定与所述每个失联机器人相应的目标发送机器人。
- 根据权利要求8所述的任务处理方法,其中,从所述至少一个未失联机器人中,确定与所述每个失联机器人相应的目标发送机器人包括:从所述至少一个未失联机器人中,确定当前位置与所述每个失联机器人的历史位置之间的距离最短的未失联机器人,作为与所述每个失联机器人相应的目标发送机器人。
- 根据权利要求1所述的任务处理方法,其中,在相同功耗情况下,所述第二通信模块的无线传播距离与所述第一通信模块的无线传播距离之间的差值大于差值阈值,所述差值和差值阈值均为正数。
- 根据权利要求10所述的任务处理方法,其中,所述当前任务为跟车任务,所述第二通信模块还用于执行跟车任务的机器人之间交互实时的运动参数、位置和路况信息。
- 根据权利要求11所述的任务处理方法,其中,所述运动参数包括速度、加速度和方向中的至少一种。
- 根据权利要求1-12任一项所述的任务处理方法,其中,所述第一通信模块为WIFI模块,所述第二通信模块为远距离无线电LORA模块。
- 一种用于多个机器人的任务处理装置,其中,所述任务处理装置和所述多个机器人中均部署有第一通信模块,所述第一通信模块用于机器人与所述任务处理装置之间的双向通信,所述多个机器人还包括第二通信模块,所述第二通信模块用于机器人之间的双向通信,所述任务处理装置包括:标记模块,被配置为在监测到至少一个机器人与所述任务处理装置之间的心跳连接断开的情况下,将所述至少一个机器人标记为失联机器人;获取模块,被配置为获取所述失联机器人的历史位置和所述多个机器人中的未失联机器人的当前位置,所述未失联机器人为与所述任务处理装置保持心跳连接的机器人;确定模块,被配置为针对每个失联机器人,根据所述失联机器人的历史位置和所述未失联机器人的当前位置,从所述多个机器人中,确定与所述每个失联机器人相应的目标发送机器人,所述目标发送机器人包括未失联机器人;发送模块,被配置为通过所述目标发送机器人,发送所述每个失联机器人的当前任务的任务信息到所述每个失联机器人。
- 一种用于多个机器人的任务处理方法,所述多个机器人包括第一通信模块和第二通信模块,所述第一通信模块用于机器人与任务处理装置的第一通信模块之间的双向通信,所述第二通信模块用于机器人之间的双向通信,所述任务处理方法由任一机器人执行,所述任务处理方法包括:在所述任一机器人与所述任务处理装置之间的心跳连接未断开且所述任一机器人被确定为与失联机器人相应的目标发送机器人的情况下,通过所述第一通信模块接收所述任务处理装置发送的所述失联机器人的当前任务的任务信息,并通过所述第二通信模块发送所接收的任务信息到所述失联机器人,其中,所述失联机器人为与所述任务处理装置之间的心跳连接断开的机器人;在所述任一机器人与所述任务处理装置之间的心跳连接断开的情况下,通过所述第二通信模块接收与所述任一机器人对应的目标发送机器人发送的所述任一机器人的当前任务的任务信息,所述目标发送机器人包括未失联机器人;在所述任一机器人与所述任务处理装置之间的心跳连接断开且所述任一机器人被确定为与除所述机器人以外的其他失联机器人相应的目标发送机器人之一的情况下,通过第二通信模块接收所述其他目标发送机器人发送的所述其他失联机器人的当前任务的任务信息,并发送所接收的任务信息到所述其他失联机器人,所述其他目标发送机器人包括未失联机器人。
- 根据权利要求15所述的任务处理方法,其中,目标发送机器人中存在至少一个机器人与其对应的失联机器人之间的距离小于或等于距离阈值,在目标发送机器人存在多个的情况下,多个目标发送机器人所构成的串联路径中存在一条串联路径上的任意相邻两个目标发送机器人之间的距离小于或等于所述距离阈值。
- 一种机器人,包括:第一通信模块,被配置为与任务处理装置的第一通信模块进行双向通信;第二通信模块,被配置为与其他机器人的第二通信模块进行双向通信;其中,在所述机器人与所述任务处理装置之间的心跳连接未断开且所述机器人被确定为与失联机器人相应的目标发送机器人的情况下,通过所述第一通信模块接收所述任务处理装置发送的所述失联机器人的当前任务的任务信息,并通过所述第二通信模块发送所接收的任务信息到所述失联机器人,其中,所述失联机器人为与所述任务处理装置之间的心跳连接断开的机器人;在所述机器人与所述任务处理装置之间的心跳连接断开的情况下,通过所述第二通信模块接收与所述机器人对应的目标发送机器人发送的所述机器人的当前任务的任务信息,所述目标发送机器人包括未失联机器人;在所述机器人与所述任务处理装置之间的心跳连接断开且所述机器人被确定为与除所述机器人以外的其他失联机器人相应的目标发送机器人之一的情况下,通过第二通信模块接收所述其他目标发送机器人发送的所述其他失联机器人的当前任务的任务信息,并发送所接收的任务信息到所述其他失联机器人,所述其他目标发送机器人包括未失联机器人。
- 根据权利要求17所述的机器人,其中,目标发送机器人中存在至少一个机器人与其对应的失联机器人之间的距离小于或等于距离阈值,在所述目标发送机器人存在多个的情况下,多个目标发送机器人所构成的串联路径中存在一条串联路径上的任意相邻两个目标发送机器人之间的距离小于或等于所述距离阈值。
- 一种电子设备,包括:存储器;以及耦接至所述存储器的处理器,所述处理器被配置为基于存储在所述存储器的指令,执行如权利要求1至13、15至16任一项所述的任务处理方法。
- 一种用于多个机器人的任务处理系统,包括:如权利要求14所述的任务处理装置。
- 根据权利要求20所述的任务处理系统,还包括:目标发送机器人,被配置为通过第一通信模块接收来自所述任务处理装置的每个失联机器人的当前任务的任务信息,并通过第二通信模块发送所述当前任务的任务信息发送给所述每个失联机器人。
- 一种计算机可存储介质,其上存储有计算机程序指令,该指令被处理器执行时实现如权利要求1至13、15至16任一项所述的任务处理方法。
- 一种计算机程序,包括:指令,所述指令当由处理器执行时使所述处理器执行根据权利要求1至13、15至16任一项所述的任务处理方法。
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CN117874739A (zh) * | 2024-03-13 | 2024-04-12 | 中国标准化研究院 | 一种智能制造服务的信息推送方法及系统 |
CN117874739B (zh) * | 2024-03-13 | 2024-05-07 | 中国标准化研究院 | 一种智能制造服务的信息推送方法及系统 |
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CN113741297B (zh) | 2023-06-23 |
KR20240064680A (ko) | 2024-05-13 |
CN113741297A (zh) | 2021-12-03 |
EP4400923A1 (en) | 2024-07-17 |
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