WO2024017209A1

WO2024017209A1 - Scheduling control method and apparatus, and electronic device

Info

Publication number: WO2024017209A1
Application number: PCT/CN2023/107757
Authority: WO
Inventors: 张敏亮
Original assignee: 杭州海康机器人股份有限公司
Priority date: 2022-07-18
Filing date: 2023-07-17
Publication date: 2024-01-25
Also published as: CN115220451A

Abstract

A scheduling control method and apparatus, and an electronic device. A robot switching position is selected by analyzing the topological relationship among a first position (the current position of a first robot where an abnormality occurs), a third position (the final position of a task) and a fourth position (the position for eliminating the abnormality of the first robot), so that the finally selected robot switching position can change with the positions above and is the real position having the minimum robot switching cost, thereby implementing scientific and reasonable determination of the robot switching position and effectively reducing the robot switching cost. Furthermore, a scheduling device can improve the automation and intelligence of a scheduling system by controlling the automatic switching of a first robot and a second robot, thereby bringing certain efficiency improvement.

Description

A dispatch control method, device and electronic equipment

Technical field

The present application relates to the field of robots, and in particular to a dispatch control method, device and electronic equipment.

Background technique

In applications, many robots may experience some abnormalities during their tasks. These anomalies can make the robot no longer suitable to continue performing tasks. Take Automatic Guided Vehicles (AGV: Automated Guided Vehicles) as an example. During the transportation of goods, the AGV has low battery power, components have safety risks (such as breakage, etc.) and need to be repaired, etc. Abnormalities will affect the continued operation of the AGV. Move current cargo.

A common method is to arrange for other robots to go to the corresponding location, such as the charging area or maintenance area, to take over the abnormal robot and continue to perform the task. However, this method often results in a certain robot switching cost. Sometimes, affected by the robot switching position, the robot switching cost is too high. Therefore, how to scientifically and rationally select the robot switching position and reduce the cost of robot switching are technical issues that need to be solved urgently.

Contents of the invention

According to a first aspect of the embodiment of the present application, a scheduling control method is provided, which method is applied to a scheduling device, and the scheduling device is used to schedule multiple robots in a designated area; the method includes:

When an abnormality is detected in the first robot that is performing a task in the designated area, a second robot to continue working in place of the first robot is determined from the currently idle candidate robots;

The robot switching position is determined according to the topological relationship between the first position, the third position and the fourth position; the first position refers to the current position of the first robot; the third position refers to the The end position of the task; the fourth position refers to the position used to eliminate the abnormality that occurs in the first robot;

The first robot and the second robot are controlled to switch at the robot switching position, so that the second robot continues to work instead of the first robot.

According to a second aspect of the embodiment of the present application, a device is provided, which device is applied to a scheduling device, and the scheduling device is used to schedule multiple robots in a designated area; the device includes:

A detection unit, used to detect whether an abnormality occurs in the first robot performing a task in the designated area;

A scheduling unit configured to determine, from the currently idle candidate robots, a second robot to continue working in place of the first robot when an exception occurs to the first robot that is performing a task in the designated area; according to the first The topological relationship between the position, the third position and the fourth position determines the robot switching position; the first position refers to the current position of the first robot; the third position refers to the position of the handling task The end position; the fourth position refers to the position used to eliminate the abnormality that occurs in the first robot;

A control unit configured to control the first robot and the second robot to switch handling tasks at the robot switching position, so that the second robot continues to work instead of the first robot.

According to a third aspect of the embodiment of the present application, an electronic device is provided, which includes: a processor and a memory;

The memory is used to store machine executable instructions;

The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method as described above.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and together with the description, serve to explain the principles of the specification.

Figure 1 is a method flow chart provided by an embodiment of the present application;

Figure 2 is a flow chart for the implementation of step 102 provided by the embodiment of the present application;

Figure 3 is a scene diagram for determining the robot switching position provided by the embodiment of the present application;

Figure 4 is another scene diagram for determining the robot switching position provided by the embodiment of the present application;

Figure 5 is a schematic diagram of the device provided by the embodiment of the present application;

FIG. 6 is a schematic diagram of the hardware structure of the device shown in FIG. 5 provided by an embodiment of the present application.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the appended claims.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present application, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining."

In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present application, and to make the above purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application are described below in conjunction with the accompanying drawings. Further detailed instructions.

Refer to Figure 1, which is a method flow chart provided by an embodiment of the present application. As an embodiment, the process shown in Figure 1 can be applied to a scheduling device, which is used to schedule multiple robots in a designated area. For example, in automatic warehouse applications, the scheduling device can be a platform scheduling system (RCS: Robot Control System) implemented by computer equipment, the designated area can be a warehouse, and the robot can be an AGV. This embodiment does not specifically limit the scheduling equipment, designated areas, and the above-mentioned robots.

As shown in Figure 1, the process can include the following steps:

Step 101: When an abnormality is detected in the first robot that is performing a task in the designated area, a second robot to continue working in place of the first robot is determined from the currently idle candidate robots.

In this embodiment, the scheduling device can monitor the status of each robot performing tasks in the designated area on a regular basis or in real time. Once an abnormality is found in a robot (recorded as the first robot) based on the status, as described in step 101, the robot will be dispatched in a timely manner. A second robot to continue working in place of the first robot is determined among the currently idle candidate robots. In this embodiment, the first robot and the second robot are only named for convenience of description and are not used for limitation.

As an example, in this step 101, there are many ways to determine the second robot to continue working in place of the first robot from among the currently idle robots. For example, for each currently idle candidate robot, based on the relationship between the candidate robot and the first robot, The distance between a robot, calculate the robot switching cost between the candidate robot and the first robot; based on the robot switching cost between each candidate robot and the first robot, determine the robot to replace all candidate robots that are currently idle. The second robot continues to work; and so on, this embodiment is not specifically limited.

As an embodiment, there are many implementations of determining the second robot to continue working in place of the first robot from the currently idle candidate robots based on the robot switching cost between each candidate robot and the first robot. , for example, from among the currently idle candidate robots, select the candidate robot with the smallest robot switching cost with the first robot, determine the selected candidate robot as the second robot to continue working in place of the robot, etc. , this embodiment is not specifically limited.

Step 102: Determine the robot switching position according to the topological relationship between the first position, the third position and the fourth position where the first robot is currently located; the third position refers to the task end position; the fourth position refers to the position used to eliminate The location where the first robot anomaly occurred.

Here, the first position, the third position, and the fourth position are only named for convenience of description and are not used for limitation.

Taking the task of transporting goods as an example, the task end position pointed to by the third position can be the destination of the goods.

If the above abnormality is that the battery is insufficient, such as being lower than the preset first battery threshold, for example, the fourth position can be the charging area position; and if the above abnormality is that the robot component has safety risks, for example, the fourth position can be for component maintenance. area location.

In this embodiment, the robot switching position is selected by analyzing the topological relationship between the first position, the third position and the fourth position, so that the selected robot switching position can ensure that the robot switching position changes according to the changes in each of the above positions, which is The position where the real robot switching cost is minimal finally achieves a scientific and reasonable determination of the robot switching position. As for how to analyze the topological relationship between the first position, the third position and the fourth position to select the robot switching position, an example will be described below, and I will not go into details here.

Step 103: Control the first robot and the second robot to switch at the robot switching position, so that the second robot continues to work instead of the first robot.

Optionally, in this embodiment, the above-mentioned scheduling device can issue the above-mentioned robot switching position to the first robot and the second robot, and instruct the first robot and the second robot to reach the robot switching position according to the shortest path to switch, so that The second robot continues to work instead of the first robot. That is, it is finally achieved to control the first robot and the second robot to switch at the robot switching position, so that the second robot can continue to work instead of the first robot.

Based on the fact that the robot switching position described above is the position where the real robot switching cost is minimum, this embodiment controls the first robot and the second robot to switch at the above robot switching position, which can effectively reduce the robot switching cost.

At this point, the process shown in Figure 1 is completed.

It can be seen from the process shown in Figure 1 that this embodiment selects the robot switching position by analyzing the topological relationship between the first position, the third position and the fourth position, so that the final selected robot switching position can be based on the above positions. It changes with changes and is the position with the lowest real robot switching cost. It finally achieves a scientific and reasonable determination of the robot switching position and effectively reduces the robot switching cost;

Furthermore, in this embodiment, the dispatching device can improve the automation and intelligence of the dispatching system by controlling the automatic switching of the first robot and the second robot, thus bringing about a certain improvement in efficiency.

The following uses specific embodiments to describe how to determine a second robot to continue working in place of the first robot from among the currently idle candidate robots:

For robots such as AGVs, low-power tasks such as carrying shelves can easily cause the robot to go astray and accelerate battery loss. Therefore, other normal robots need to be replaced in time to continue performing tasks. Based on this, as an embodiment, the above-mentioned abnormality refers to: when the current power of the first robot is lower than the preset first power threshold, it is predicted that the remaining time required for the first robot to complete the remaining tasks is greater than the preset time. threshold.

For example, taking the first robot as AGV1 as an example, when AGV1 has low power when carrying a shelf while performing a handling task (that is, the current power is lower than the preset first power threshold), predict the remaining time for the AGV1 to perform the task. The first power threshold can be set according to actual needs, and is not specifically limited in this embodiment.

As an example, the above remaining time is calculated by the following formula 1:
T _re =s/v (1)

Among them, T _re represents the above remaining time, v represents the average walking speed of AGV1 when performing the transportation task, and s is the sum of the distances from the starting point to the end point of the remaining transportation tasks of AGV1.

As an embodiment, because robot switching itself also has a certain time cost, in order to avoid that the remaining time is too small, robot switching will also be performed. In this embodiment, the remaining time calculated above will be compared with the preset time threshold. If the remaining time is greater than the above time threshold, it is determined that the above abnormality occurs. Here, the time threshold is set based on actual needs, and it can be set as the time threshold for executing the robot switching function provided by this embodiment. Of course, once the AGV1 encounters low power when carrying a shelf while performing a transportation task (that is, the current power is lower than the preset first power threshold), it can also be directly identified as the above abnormality, and this embodiment will not describe each example one by one.

Corresponding to the above abnormality, in this embodiment, an idle robot can be searched in the above designated area and the difference between the current power and the current power of the first robot is greater than or equal to the preset second power threshold (usually at least the fully charged state). Candidate robots with a battery capacity of more than 20%).

If the number of candidate robots is m, as an example, a weighted calculation can be made based on the power difference and distance between each candidate robot and the first robot to obtain the robot switching cost between the candidate robot and the first robot. . Calculation formula 2 is as follows:
C _i =ΔS _i -kΔP _i , 0≤i≤m-1 (2)

Among them, C _i represents the robot switching cost between the i-th candidate robot and the first robot, ΔS _i represents the distance between the i-th candidate robot and the first robot, and ΔP _i represents the i-th candidate robot. The power difference between the robot and the first robot, k is the control coefficient, and in one example, k can be a positive number.

It can be seen from Formula 2 that the greater the distance, the greater the cost, and the greater the power difference, the smaller the cost. Finally, through the above formula 2, the candidate robot with the smallest robot switching cost can be determined to continue working instead of the first robot, while the first robot performs the charging operation.

As another embodiment, the above-mentioned abnormality may also refer to: at least one component of the first robot currently has a safety risk (requires repair at this time). Corresponding to this abnormality, each robot that is idle in the above designated area can be used as a candidate robot for the first robot. If the number of candidate robots is m, as an embodiment, the robot switching cost between each candidate robot and the first robot can be determined based on the distance between the candidate robot and the first robot. Calculation formula 3 is as follows:
C _i =ΔS _i (3)

It can be seen from Formula 3 that the distance between the candidate robot and the first robot is positively related to the robot switching cost between the candidate robot and the first robot.

Finally, through the above formula 3, the candidate robot with the smallest robot switching cost can be determined to continue working instead of the first robot, while the first robot performs the charging operation.

The above describes how to determine the second robot to continue working in place of the first robot from among the currently idle candidate robots through two different exceptions.

The following describes how to determine the robot switching position based on the topological relationship between the first position, the third position and the fourth position where the first robot is currently located:

Referring to Figure 2, Figure 2 is a flow chart for the implementation of step 102 provided by the embodiment of the present application. As shown in Figure 2, the process may include the following steps:

Step 201: Determine whether there is an overlapping area between the first path and the second path. If there is at least one overlapping area between the first path and the second path, execute step 202. If there is no overlapping area between the first path and the second path, execute step 202. Step 203; The first path refers to the optimal reachable path from the first position to the third position, and the second path refers to the optimal reachable path from the first position to the fourth position.

For example, as shown in Figure 3, the first position is P31 and the third position is P30, then the first path is the following two equivalent paths:

First path 1: P31→P32→P33→P34→P35→P30;

First path 2: P31→P32→P33→P36→P37→P30.

If the fourth position is P39, the second path is: P31→P32→P33→P36→P38→P39.

Through comparison, it is found that there is an overlapping area between the first path 1 and the second path: P31→P32→P33, and there is an overlapping area P31→P32→P33→P36 between the first path 2 and the second path. If there is at least one overlapping area between the first path and the second path, perform the following step 202.

For another example, as shown in Figure 4, the first position is P41 and the third position is P40, then the first path is P41→P42→P43→P44→P45→P40. If the fourth position is P411, then the second path is P41→P48→P49→P410→P411. Through comparison, it is found that there is no overlapping area between the first path and the second path. If there is no overlapping area between the first path and the second path, perform the following step 203.

Step 202: Determine a designated position in the overlapping area as the robot switching position; wherein, compared with other positions in the overlapping area, the reachable path from the designated position to the third position is the shortest.

Still taking Figure 3 as an example, there is an overlapping area between the first path 1 and the second path: P31→P32→P33, and there is an overlapping area P31→P32→P33→P36 between the first path 2 and the second path. Since P36 It is closer to the third position, so P36 is selected as the robot switching position. Of course, assuming that the connectivity between P36 and P30 in Figure 3 does not exist (for example, P37 does not exist), then point P33 is selected as the robot switching position.

Step 203: Determine the switching position of the robot based on the intersection between the third path and the first path; the third path refers to the optimal possible path between the second position where the second robot is currently located and the third position. reach path.

Here, the designated intersection point between the third path and the first path can be determined as the robot switching position; wherein, when there is an intersection point between the third path and the first path, the designated intersection point is the third path and the first path. An intersection point between paths; when the number of intersection points between the third path and the first path is greater than 1, the designated intersection point is the intersection point closest to the third position among all intersection points.

Still taking Figure 4 as an example, there is no overlapping area between the first path and the second path, then it is assumed that the paths from the second position to the third position are: P46→P45→P40, P46→P47→P44→P45. →P40; The intersection points of these two paths and the first path are P45 and P44 respectively. If the path P46→P47→P44→P45→P40 is larger than the path P46→P45 →P40 is short, then P44 point should be selected as the robot switching position, otherwise, P45 should be selected as the robot switching position.

At this point, the process shown in Figure 2 is completed.

Through the process shown in Figure 2, it is finally achieved to select the robot switching position with the smallest robot switching cost based on the topological relationship of the above four positions.

The method provided by the embodiment of the present application has been described above. The device provided by the embodiment of the present application is described below:

Referring to Figure 5, Figure 5 is a schematic diagram of a device provided by an embodiment of the present application. The device is applied to scheduling equipment. The device includes:

a scheduling unit configured to determine, from the currently idle candidate robots, a second robot to continue working in place of the first robot when an exception occurs to the first robot that is performing a task in the designated area; according to the first The topological relationship between the first position, the third position and the fourth position where the robot is currently located determines the robot switching position; the third position refers to the end position of the handling task; the fourth position refers to the To eliminate the abnormal position of the first robot;

As an embodiment, the scheduling unit determines a second robot to continue working in place of the first robot from each candidate robot that is currently idle, including:

For each candidate robot that is currently idle, calculate the robot switching cost between the candidate robot and the first robot based on the distance between the candidate robot and the first robot;

According to the robot switching cost between each candidate robot and the first robot, determine a second robot to continue working in place of the first robot from each candidate robot that is currently idle;

As an embodiment, determining a second robot to continue working in place of the first robot from each currently idle candidate robot based on the robot switching cost between each candidate robot and the first robot includes: Among the currently idle candidate robots, select the candidate robot with the smallest robot switching cost with the first robot, and determine the selected candidate robot as the second robot to continue working in place of the first robot;

As an embodiment, the abnormality refers to: when the current power of the first robot is lower than the preset first power threshold, it is predicted that the time required for the first robot to complete the remaining transportation tasks is greater than the preset time. threshold;

The difference between the current power of any candidate robot and the current power of the first robot is greater than or equal to the preset second power threshold;

Calculating the robot switching cost between the candidate robot and the first robot based on the distance between the candidate robot and the first robot includes: calculating the i-th candidate robot and the first robot according to the following formula The robot switching cost between: C _i =ΔS _i -kΔP _i ; where, C _i represents the robot switching cost between the i-th candidate robot and the first robot, and ΔS _i represents the i-th candidate robot and the first robot. The distance between the first robots, ΔP _i represents the power difference between the i-th robot and the first robot, and k is the control coefficient;

As an embodiment, the abnormality refers to: at least one component of the first robot currently has a safety risk;

The distance between the candidate robot and the first robot is positively related to the robot switching cost between the candidate robot and the first robot;

As an embodiment, the scheduling unit determines the robot switching position according to the topological relationship between the first position, the third position and the fourth position where the first robot is currently located, including: judging the first path and the second path. Whether there is an overlapping area; the first path refers to the optimal reachable path from the first position to the third position, and the second path refers to the optimal reachable path from the first position to the fourth position; if the first If there is at least one overlapping area between the path and the second path, then the designated position in the overlapping area is determined as the robot switching position; wherein, compared with other positions in the overlapping area, the reachable path from the designated position to the third position is The shortest; if there is no overlapping area between the first path and the second path, the robot switching position is determined based on the intersection between the third path and the first path; the third path refers to the second position to the third position The optimal reachable path between;

Wherein, determining the robot switching position based on the intersection between the third path and the first path includes: determining the designated intersection between the third path and the first path as the robot switching position; wherein, when When there is an intersection between the third path and the first path, the designated intersection is an intersection between the third path and the first path; when the number of intersections between the third path and the first path is greater than 1, The specified intersection point is the closest intersection point to the third position among all intersection points.

At this point, the structural diagram of the device embodiment shown in Figure 5 is completed.

Correspondingly, the embodiment of the present application also provides a hardware structure diagram of an electronic device, as shown in FIG. 6 . The electronic device may be the device for implementing the above method. As shown in Figure 6, the hardware structure includes: processor and memory.

Wherein, the memory is used to store machine executable instructions;

The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method embodiments shown above.

As one example, memory may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, and the like. For example, the memory may be: volatile memory, non-volatile memory or similar storage media. Specifically, the memory can be RAM (Radom Access Memory), flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as optical disk, DVD, etc.), or similar storage media, Or a combination of them.

At this point, the description of the electronic device shown in Figure 6 is completed.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the present application. within the scope of protection.

Claims

A scheduling control method, characterized in that the method is applied to a scheduling device, and the scheduling device is used to schedule multiple robots in a designated area; the method includes:

When an abnormality is detected in the first robot that is performing a task in the designated area, a second robot to continue working in place of the first robot is determined from the currently idle candidate robots;

The robot switching position is determined according to the topological relationship between the first position, the third position and the fourth position; the first position refers to the current position of the first robot; the third position refers to the The end position of the task; the fourth position refers to the position used to eliminate the abnormality that occurs in the first robot;

The first robot and the second robot are controlled to switch at the robot switching position, so that the second robot continues to work instead of the first robot.
The method of claim 1, wherein determining a second robot to continue working in place of the first robot from currently idle candidate robots includes:

For each candidate robot that is currently idle, calculate the robot switching cost between the candidate robot and the first robot based on the distance between the candidate robot and the first robot;

Based on the robot switching cost between each candidate robot and the first robot, a second robot to continue working in place of the first robot is determined from the currently idle candidate robots.
The method according to claim 2, wherein the abnormality refers to the prediction that the first robot completes the remaining tasks when the current power of the first robot is lower than a preset first power threshold. The remaining time required is greater than the preset time threshold;

The difference between the current power of any candidate robot and the current power of the first robot is greater than or equal to the preset second power threshold.
The method according to claim 3, wherein calculating the robot switching cost between the candidate robot and the first robot according to the distance between the candidate robot and the first robot includes:

Calculate the robot switching cost between the i-th candidate robot and the first robot according to the following formula: C i =ΔS i -kΔP i ;

Among them, C i represents the robot switching cost between the i-th candidate robot and the first robot, ΔS i represents the distance between the i-th candidate robot and the first robot, and ΔP i represents the i-th candidate robot. The power difference between the robot and the first robot, k is the control coefficient.
The method according to claim 2, wherein the abnormality refers to: at least one component of the first robot currently has a safety risk;

The distance between the candidate robot and the first robot is the same as the distance between the candidate robot and the first machine. The cost of robot switching between humans is positively correlated.
The method according to claim 1, wherein determining the robot switching position according to the topological relationship between the first position, the third position and the fourth position includes:

Determine whether there is an overlapping area between the first path and the second path; the first path refers to the optimal reachable path from the first position to the third position, and the second path refers to the optimal reachable path from the first position to the fourth position. Optimal reachability path;

If there is at least one overlapping area between the first path and the second path, determine a designated position in the at least one overlapping area as the robot switching position; wherein, compared with other positions in the at least one overlapping area , the shortest reachable path from the designated position to the third position;

If there is no overlapping area between the first path and the second path, the robot switching position is determined based on the intersection between the third path and the first path; the third path refers to the second robot The optimal reachable path between the current second location and the third location.
The method of claim 6, wherein determining the robot switching position based on the intersection between the third path and the first path includes:

Determine the designated intersection point between the third path and the first path as the robot switching position;

Wherein, when there is an intersection point between the third path and the first path, the designated intersection point is an intersection point between the third path and the first path; when the third path and the first path When the number of intersections between the first paths is greater than 1, the designated intersection is the intersection closest to the third position among all intersections.
A dispatching control device, characterized in that the device is applied to dispatching equipment, and the dispatching equipment is used to dispatch multiple robots in a designated area; the device includes:

A detection unit, used to detect whether an abnormality occurs in the first robot performing a task in the designated area;

A scheduling unit configured to determine, from the currently idle candidate robots, a second robot to continue working in place of the first robot when an exception occurs to the first robot that is performing a task in the designated area; according to the first position, The topological relationship between the third position and the fourth position determines the robot switching position; the first position refers to the current position of the first robot; the third position refers to the end position of the task; The fourth position refers to a position used to eliminate an abnormality that occurs in the first robot;

A control unit configured to control the first robot and the second robot to switch handling tasks at the robot switching position, so that the second robot continues to work instead of the first robot.
The device according to claim 8, characterized in that the scheduling unit determines a second robot to continue working in place of the first robot from the currently idle candidate robots, including:

For each candidate robot that is currently idle, calculate the robot switching cost between the candidate robot and the first robot based on the distance between the candidate robot and the first robot;

According to the robot switching cost between each candidate robot and the first robot, determine a second robot to continue working in place of the first robot from the currently idle candidate robots;

Wherein, based on the robot switching cost between each candidate robot and the first robot, determining the second robot to continue working in place of the first robot from the currently idle candidate robots includes: selecting from the currently idle candidate robots Among the candidate robots, the candidate robot with the smallest robot switching cost with the first robot is selected, and the selected candidate robot is determined as the second robot to continue working in place of the first robot.
The device according to claim 9, wherein the abnormality refers to the prediction that the first robot has completed the remaining transportation when the current power of the first robot is lower than a preset first power threshold. The time required for the task is greater than the preset time threshold;

The difference between the current power of any candidate robot and the current power of the first robot is greater than or equal to the preset second power threshold.
The device according to claim 10, wherein calculating the robot switching cost between the candidate robot and the first robot according to the distance between the candidate robot and the first robot includes: as follows: The formula calculates the robot switching cost between the i-th candidate robot and the first robot: C i =ΔS i -kΔP i ; where Ci represents the robot switching cost between the i-th candidate robot and the first robot. , ΔS i represents the distance between the i-th candidate robot and the first robot, ΔP i represents the power difference between the i-th candidate robot and the first robot, and k is the control coefficient.
The device according to claim 9, wherein the abnormality refers to: at least one component of the first robot currently has a safety risk;

The distance between the candidate robot and the first robot is positively related to the robot switching cost between the candidate robot and the first robot.
The device according to claim 9, wherein the scheduling unit determines the robot switching position according to the topological relationship between the first position, the third position and the fourth position including: determining whether the first path and the second path are There is an overlapping area; the first path refers to the optimal reachable path from the first position to the third position, and the second path refers to the optimal reachable path from the first position to the fourth position; if the third position If there is at least one overlapping area between a path and the second path, then the designated position in the at least one overlapping area is determined as the robot switching position; wherein, compared with other positions in the at least one overlapping area, the designated position is The reachable path from the position to the third position is the shortest; if there is no overlapping area between the first path and the second path, the robot is determined based on the intersection between the third path and the first path. Switch position; the third path refers to the optimal reachable path between the second position where the second robot is currently located and the third position.
The device according to claim 13, characterized in that the third path and the first path are The intersection point between the paths, determining the robot switching position includes: determining the designated intersection point between the third path and the first path as the robot switching position; wherein, when the third path and the When there is an intersection between the first paths, the designated intersection is an intersection between the third path and the first path; when there is an intersection between the third path and the first path When the number is greater than 1, the specified intersection point is the closest intersection point to the third position among all intersection points.
An electronic device, characterized in that the electronic device includes: a processor and a memory;

The memory is used to store machine executable instructions;

The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.