CN108701285A - Robot dispatching method, server, electronic equipment and readable storage medium storing program for executing - Google Patents
Robot dispatching method, server, electronic equipment and readable storage medium storing program for executing Download PDFInfo
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Abstract
A kind of robot dispatching method, server, electronic equipment and computer readable storage medium, by carrying out United Dispatching to robot, realize the collaborative work of multirobot, improve the whole work efficiency of robot, belong to robotic technology field, wherein robot dispatching method includes server when detecting that scheduling events occur, and searches the idle machine people (S201) that can handle the scheduling events;The server send the dispatch command for handling the scheduling events to the idle machine human hair, to control instruction of the idle machine people according to the dispatch command, executes the operation (S202) of dispatch command instruction.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of robot dispatching method, server, electronic equipment and
Computer readable storage medium.
Background technology
The fast development of science and technology, earth-shaking variation is brought to people's lives, while also improving the work of enterprise
Efficiency.And flourishing for e-commerce, unprecedented speed-raising demand is equally proposed to domestic warehouse logistics.Intelligence machine
The concept that people is applied to logistics is also gradually mentioned and multidirectional research is unfolded.Wherein, in the handling direction of cargo, how to protect
The high efficiency and stability for holding handling goods become an important technological problems.
In the prior art, the application of industrial robot is still very limited, and a usual robot is fixed on an operating point,
The fixed work in the operating point is completed, such as assembles application on assembly line.But freight, unload, transport goods for logistics and
Speech, each cargo flow into node, the car loading for flowing out node and on-fixed or regularity arrangement, therefore, if robot fixation is set
It sets in corresponding node, such as conveys the loading cargo hold of destination towards different cargos, is set to different discharging hatch and waits unloading
Cabin, the input point of conveyer belt or output point etc., each node machine people fix and execute operation, may lead to some nodes, such as logical
Toward the loading point of A points, lot cargo is accumulated, and the loading point towards B points only has a small amount of cargo, therefore, loading is executed in B points
Robot can have idle state, and at another time point, it may be possible to inverse state, in general, due to the industry in the field
Business characteristic, is fixedly installed the scheme of robot, always there is the robot of idle state.Holding for robot can not be made full use of
Line efficiency.In this regard, how efficiently robot to be utilized to realize the automation of logistics field, there is presently no the relevant technologies.
Invention content
The present invention provides a kind of robot dispatching method, server, electronic equipment and computer readable storage medium, can be with
By carrying out United Dispatching to robot, realizes the collaborative work of multirobot, improve machine task efficiency.
First aspect of the embodiment of the present invention provides a kind of robot dispatching method, including:Server is detecting scheduling
When event occurs, the idle machine people that can handle the scheduling events is searched;The server is to the idle machine human hair
The dispatch command for handling the scheduling events is sent, to control instruction of the idle machine people according to the dispatch command, is executed
The operation of the dispatch command instruction.
Second aspect of the embodiment of the present invention provides a kind of server, including:Searching module, for detecting scheduling thing
When part occurs, the idle machine people that can handle the scheduling events is searched;Instruction module is used for the idle machine human hair
The dispatch command for handling the scheduling events is sent, to control instruction of the idle machine people according to the dispatch command, is executed
The operation of the dispatch command instruction.
The third aspect of the embodiment of the present invention provides a kind of electronic equipment, including:It memory, processor and is stored in described
On memory and the computer program that can run on the processor, the processor are realized when executing the computer program
The robot dispatching method that embodiments of the present invention first aspect provides.
Fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer journey
Sequence, which is characterized in that when the computer program is executed by processor, realize what embodiments of the present invention first aspect provided
Robot dispatching method.
From the embodiments of the present invention it is found that by when detecting that scheduling events occur, whois lookup can be handled
Then the idle machine people of scheduling events send the dispatch command of processing scheduling events to idle machine human hair, so that idle machine
Device people executes the operation of dispatch command instruction, the United Dispatching to robot is realized, to make according to the instruction of dispatch command
The collaborative work that multirobot can be carried out according to the dispatch command of server is obtained, and then improves the work effect of whole robot system
Rate.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention.
Fig. 1 is the application environment schematic diagram of robot dispatching method provided in an embodiment of the present invention;
Fig. 2 is the implementation process schematic diagram for the robot dispatching method that first embodiment of the invention provides;
Fig. 3 is the implementation process schematic diagram for the robot dispatching method that second embodiment of the invention provides;
Fig. 4 is the implementation process schematic diagram for the robot dispatching method that third embodiment of the invention provides;
Fig. 5 is the structural schematic diagram for the server that fourth embodiment of the invention provides;
Fig. 6 is the hardware architecture diagram for the electronic equipment that fifth embodiment of the invention provides.
Specific implementation mode
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
It is only a part of the embodiment of the present invention to apply example, and not all embodiments.Based on the embodiments of the present invention, people in the art
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is the application environment schematic diagram of robot dispatching method provided in an embodiment of the present invention.Such as Fig. 1
Shown, robot 10 carries out data interaction by wired or wireless mode, with server 80, the finger sent according to server 80
It enables, cargo hold 30 is gone to execute unloading or loading operation, such as:By place of the cargo 60 except cargo hold 30 or transmission device 40
On, it loads to cargo hold 30.Alternatively, cargo 60 from cargo hold 30 is offloaded on transmission device 40 or is transported to the ground except cargo hold 30
Side.Wherein, robot 10 can be an individual robot, can also be the robot cluster being made of multiple robots.
The robot includes processor, mechanical arm and end effector in mechanical arm end is arranged, and can also include movement
Chassis, various kinds of sensors etc..
Referring to Fig. 2, Fig. 2 is the implementation process schematic diagram for the robot dispatching method that first embodiment of the invention provides.
As shown in Fig. 2, this method mainly includes the following steps that:
S201, server search the idle machine people that can handle scheduling events when detecting that scheduling events occur.
Scheduling events can be, but not limited to:Event that robot breaks down event and pending task is triggered.
Wherein pending task can be, but not limited to:Individual machine people can be independently performed loading, unloading goods new task and need more
The cooperation task that a robot collaboration is completed.
It is carrying out work state information, the preset task schedule that the robot of task is sent according to loading, unloading goods scene
The task-performance instructions that table or other equipment are sent, can detect whether scheduling events.Wherein work state information packet
It includes:Failure reports information, assistance message etc..Such as:When receive loading, unloading goods scene be carrying out task robot send
When failure reports information, confirmation detects this scheduling events of robot fault.When receiving new task and executing instruction, confirm
Detect that loading, unloading goods new task is triggered this scheduling events.When the robot for receiving loading, unloading goods scene and being carrying out task
When the assistance message of transmission, confirmation detects that cooperation task is triggered this scheduling events.
It should be understood that the quantity of the robot configured in entire scheduling system is deposited more than executable task amount
Match additional surplus robot robot should be equipped with.Idle machine people includes:It is currently at off working state and can handle
The robot of scheduling events.Further, idle machine people, i.e., idle machine can also be determined according to the priority of scheduling events
Device people can also include that currently performed task priority is less than first level and can handle the robot of scheduling events.
In practical applications, for opposite scheduling events, idle machine people can refer to, such as scheduling events should execute
Time is completed the robot of the task of distribution, or when being executed between the machine of the task of having distributed is completed after a period
People.It can also be and determined according to the priority of scheduling events, if existing execution task can be transferred from and change processing priority
The robot of higher scheduling events.
Server judges whether idle machine people can handle the scheduling events of generation according to the performance of idle machine people.
S202, server send the dispatch command of processing scheduling events to idle machine human hair, are pressed with controlling idle machine people
According to the instruction of dispatch command, the operation of dispatch command instruction is executed.
Include the instruction information of execution task in dispatch command, specifically can also include execution task place and/or hold
Capable operation etc. indicates information.Such as under some scenes, when only including the instruction information of execution task, for example, charging tasks, empty
Not busy robot directly can know that the place that needs advance to is charged area according to charging tasks.Alternatively, current idle machine
People is at charged area or the idle machine people of all redundancies is located in charging zone, then is not necessarily to know place, directly initiate
Charging.Further, can also include about the instruction information for executing the time.
It is understood that when in dispatch command including the instruction information of execution task, idle machine people is according to execution
Task obtains the instruction such as place of the operation of the corresponding execution of execution task, execution information.Wherein, execution task can also wrap
Include corresponding multiple places and corresponding operation, correspondingly, idle machine people according to execution task can advance to multiple places with
Execute corresponding operation.Wherein place and operation can also include sequence, then idle machine people according to execute task and operation and/
Or the sequence in place completes execution task.When dispatch command includes the instruction information in the place of execution task, idle machine people
According to the instruction of dispatch command, the place of execution task is advanced to, the operation executed can be obtained according to place.For example, service
Device or idle machine people have the associated data of the operation in the place and execution that execute.Or have can be in the place executed
The acquisition modes of the operation executed are obtained, for example, the place executed has sub-services system, sub- clothes can be passed through into the place
Business system obtains the operation executed.Or the place of the execution has the acquisition of information approach such as Quick Response Code, mark, association
The operation of execution, to which idle machine people reaches the place of the execution, idle machine people can be by including but not limited to above-mentioned
The operation that acquisition of information approach is executed.
In the embodiment of the present invention, by the way that when detecting that scheduling events occur, whois lookup can handle scheduling events
Idle machine people, then to idle machine human hair send processing scheduling events dispatch command so that idle machine people according to
The instruction of dispatch command executes the operation of dispatch command instruction, the United Dispatching to robot is realized, so that multimachine device
The collaborative work that people can carry out according to the dispatch command of server, and then improve the working efficiency of whole robot system.
Referring to Fig. 3, Fig. 3 is the implementation process schematic diagram for the robot dispatching method that second embodiment of the invention provides.
The example is illustrating that scheduling events are that the current robot for the executing task event that breaks down is adopted below for the ease of statement
With first event on behalf of expression.Corresponding processing scheduling events are to handle the corresponding current execution task of the first event.Such as Fig. 3
Shown, this method mainly includes the following steps that:
S301, server search the idle machine people that can handle the first event when detecting first event.
It should be understood that robot can periodically report execution status of task and self-operating state to believe in the task of execution
Breath can send failure to server and report information, so that oneself breaks down and finally executes especially when breaking down
Task relevant information notify to server.Server reports information in the failure for receiving robot transmission, confirmly detects
First event.
Server searches the idle machine that can handle the first event in the robot currently without the task of execution
People.The performance of idle machine people is identical as the performance of the robot to break down, or with the robot phase that breaks down
Same function, the executable currently outstanding task of robot to break down.
If the idle machine people of the first event can be handled by step S302, not finding, such as:It is currently all to handle
The robot of the current execution task is all in the task of execution, alternatively, the performance for being not carried out the robot of task all can not be with hair
The currently outstanding task of robot of raw event of failure matches, then further, server judges the excellent of the first event
First grade whether be more than first level, and when the priority of the first event be more than first level when, lookup can handle this first
The priority of event and its performed task is less than the robot of first level, as idle machine people.Then, step is executed
S303:Server send the dispatch command for handling the first event to idle machine human hair, to control idle machine people according to scheduling
The instruction of instruction executes and handles the corresponding operation of the corresponding current execution task of the first event.
Optionally, if the priority of the first event be less than or equal to first level, although alternatively, the first event it is excellent
First grade is more than first level, but is less than first level currently without the priority that can handle the first event and performed task
Robot, then according to preset such as system prompt, short message, instant communication information, mail advice method, to related work people
Member sends a notification message, to notify staff that first event occurs.
It should be understood that being that different scheduling events preset corresponding priority in the server.Scheduling events it is preferential
Grade is related with the importance for the execution task that it is related to.The importance of execution task is higher, and the priority of the execution task is higher,
The priority of its corresponding scheduling events is then higher.If the priority that a robot currently executes task is less than the first order
Not, then processing can be gone higher than the scheduling events of first level by Extemporaneous.For example, the task less than first level can be
Robot charges, when robot charging is to a certain extent but in the case of not fully charged completion, if there is high tight of priority
Anxious scheduling events, the robot can be gone to handle the intervention schedule event by distancing.
If S304, finding the idle machine people that can handle the first event, server is sent to idle machine human hair
The dispatch command for handling the first event executes to control instruction of the idle machine people according to dispatch command and handles first thing
The corresponding operation of the corresponding current execution task of part.
Dispatch command is used to indicate idle machine people and advances to what place executes which type of operation.Wherein, the scheduling
The place of instruction instruction is the place where the robot to break down, and the operation of dispatch command instruction is what this broke down
Robot currently executes the corresponding operation of task.
Idle machine people takes over failed machines people and executes failed machines people and currently execute and appoint according to the instruction of dispatch command
It is engaged in corresponding operation, such as:Continue unfinished loading, unloading goods task.
In the embodiment of the present invention, event occurs during detecting some robot in execution task by server
When barrier, search can handling failure robot currently execute the idle machine people of task, then send processing to idle machine human hair
The dispatch command of scheduling events, so that instruction of the idle machine people according to dispatch command, executes the robot to break down
The corresponding operation of unfinished task, realizes the United Dispatching to robot so that other idle machines people executes task
The lower robot of priority can assist failed machines people when some robot breaks down according to the dispatch command of server
It continues to complete failed machines people and currently executes the corresponding operation of task, avoid continuing to hold after needing to wait for repair because of robot fault
The running of other links of time waste and choke system caused by row, to which the overall work of robot system can be improved
Efficiency.
Referring to Fig. 4, Fig. 4 is the implementation process schematic diagram for the robot dispatching method that third embodiment of the invention provides.
As shown in figure 4, this method mainly includes the following steps that:
S401, server detect pending task be triggered event when, according to the execution parameter of pending task, look into
Pending task can be handled by, which looking for, is triggered the idle machine people of event.
The cooperation task that pending task may include newly assigned task and other robot is coordinated to execute.Server can
With according to preset task scheduling, when that will reach the execution time for detecting a certain task, confirmation detects pending
Business is triggered.Alternatively, in the support request for receiving the transmission of some robot, confirm that pending task is triggered.Alternatively,
Know or predict some robot can not as expected the time complete distribution task when, confirm that pending task is triggered.It waits for
The content of execution task can specifically include loading and/or unloading.
The execution parameter of pending task includes the type for the end effector that can perform the pending task respective operations
And/or executive capability range.Wherein, executive capability range can be, but not limited to include:Prudent range, obtain hold object form, can
Changing object (Deformable) obtain any one of hold, obtain operable (the In Hand Manipulation) ability of the state of holding or
Several combinations.The type of end effector can be, but not limited to:Any one of sucker, manipulator and fixture are several
The combination of kind.Wherein, manipulator includes Dextrous Hand.It can be to have particular state or shape for rigid objects to obtain and hold object form
The object of state feature, end effector and fetching with specific advantages, to provide targetedly optimal grasp side
Formula.It includes after obtaining and holding object to obtain the operable ability of the state of holding, and end effector still has the ability of changeable gestures of object.
In practical applications, correspond to different executive capability ranges, sucker, the machine of different prudent abilities can be segmented out
Tool hand, fixture etc., can obtain hold can changing object sucker, manipulator, fixture etc., and have both the end effector of characteristic.
Server is in the robot currently without the task of execution, and according to the execution parameter of pending task, lookup can
Pending task is handled to be triggered the idle machine people of event.
It is triggered the idle machine people of event if the pending task can be handled by step S402, not finding, i.e.,:Currently
All robots are all in the task of execution, alternatively, the performance parameter for being not carried out the robot of task all can not be with pending
The execution match parameters of business, then judge pending task be triggered event priority whether be more than first level, and when place
It manages pending task and is triggered the priority of event when being more than first level, lookup can handle the pending task and be triggered thing
Part and the current priority for executing task are less than the robot of first level, as idle machine people, then, execute step
S403:Server send the dispatch command that the pending task of processing is triggered event to idle machine human hair, to control idle machine
People according to dispatch command instruction, when being executed between, execute the corresponding operation of pending task.
Optionally, if the pending task is triggered, the priority of event is less than or equal to first level, although alternatively, should
The be triggered priority of event of pending task is more than first level, but is triggered thing currently without that can handle pending task
The robot that part and the current priority for executing task are less than first level executes root in step S401 then every preset time
According to the execution parameter of pending task, search can handle pending task be triggered event idle machine people the step of, directly
It can handle pending task to finding and be triggered event idle machine people, then execute step S403.Wherein, the first order
It can not be preset parameter, or the parameter that system is obtained by deep learning.It is understood that according to specifically answering
With scene, system depth study, first level is variable element.
It should be understood that being that different scheduling events preset corresponding priority in the server.Scheduling events it is preferential
Grade is related with the importance for the execution task that it is related to.The importance of execution task is higher, and the priority of the execution task is higher,
The priority of its corresponding scheduling events is then higher.If the priority that a robot currently executes task is less than the first order
Not, then processing can be gone higher than the scheduling events of first level by Extemporaneous.
If S404, the pending task can be handled by finding is triggered the idle machine people of event, server is to sky
Not busy robot, which is sent, to be handled pending task and is triggered the dispatch command of event, to control idle machine people according to dispatch command
Instruction, when being executed between, execute the corresponding operation of pending task.
Dispatch command can be to be used to indicate idle machine people to advance to what place executes which type of operation.Wherein,
The place of dispatch command instruction is the corresponding place of the pending task, and the operation of dispatch command instruction is the pending task
Corresponding operation.Dispatch command may be the execution task for being used to indicate idle machine people and being assigned.
Further, dispatch command also includes the instruction information of the execution time of pending task.And then idle machine people
According to the instruction of dispatch command, when being executed between, advance to the corresponding place of the pending task, execute the pending task pair
The operation answered.Wherein consider that the continuity and quantity of execution task, execution time may include:The startup of the pending task
Time, or, executed preamble according to the idle machine people that the default stand-by period determines has executed next task after distribution task
Time.
In practical applications, server can be robot according to the multiple tasks or preset task schedule being added in real time
Multiple tasks are distributed, and controls robot and goes to execute one by one according to task sequence.As one such possibility, in dispatch command
The execution time can serve to indicate that robot executes corresponding task in the corresponding preset time of each task, alternatively, completing
Deadline, that is, pending task of execution next task, preset time or previous task is gone after one task at once
The startup time.As alternatively possible, previous task may on the estimation the time complete ahead of time or next task
(actual startup time) has delay to need to wait for, therefore for this situation, needs to determine sky according to the default stand-by period
Not busy robot has executed the time that preamble executes next task after distribution task.More often, it is that server is appointed according to plan
Business is other executable tasks of the robot redistribution of the previous task of completion, at this time execution times of other executable tasks
It may be considered a kind of startup time of pending task.
Further, when pending task is cooperation task, the executive role of cooperation task is also included in dispatch command
And/or execute the information of the other robot of the cooperation task.
Cooperation task, for example, the larger either conveyer mechanism of cargo hold cannot be introduced into cargo hold or without conveyer mechanism item
When executing unloading task under part, needs at least two robots to carry out cooperation and complete corresponding task, wherein at least one machine
People is responsible for unloading, and the cargo that at least one robot is responsible for unload transfers out.
In practical applications, dispatch command can only include the information of executive role, such as:Assuming that be all same machines people,
For cargo hold unloading scene, the executive role of one of robot is to be responsible for unloading, and the executive role of another robot is
It is responsible for taking out cargo hold or is put into the corresponding transport mechanism of cargo.Wherein unloading may include being unloaded from conveyer belt or other picking places
Lower cargo.Conveying includes that the cargo that will be unloaded is transported to another conveyer belt or direct code goods to another cargo hold.
Alternatively, dispatch command can also only include the information of other robot, then the information can be, but not limited to include:Machine
Identification information, communication linkage address information and the type of device people.Wherein robot type is for example, have mechanical arm and end
The operation robot of actuator is held, which can also include mobile chassis, in another example one or more have movement
The transfer robot on chassis and bogey, operation robot execute unloading, are then put into the bogey of transfer robot
It transports.
Alternatively, the case where dispatch command may include executive role and other robot information.Other robot information
Information including robot, for example, the robot of the robot of sucker, fixture, transfer robot etc..Further,
Different roles can also be distributed for sucker robot, fixture robot, practical is exactly which determines according to form, the weight of cargo
One robot execute which cargo pick and place namely different robots role or division of labor in task, according to this
Allocated and executive role provides the robot that server distributes corresponding executive role according to scheduling events.For example, cargo hold A
There are large-scale dead weight cargo, the sucker robot of loading is executed in cargo hold A can not operate the large size dead weight cargo, then triggers
The scheduling events of cooperation task, the scheduling events are the loading task that large-scale dead weight cargo in cargo hold is completed in request cooperation, service
Device searches the idle machine people that can operate large-scale dead weight cargo, for example, fixture machine according to the scheduling events of cooperation task
People then sends dispatch command and gives fixture robot, which includes that executive role is to coordinate the robot completion of cargo hold A wherein big
The unloading task of type dead weight cargo.
Idle machine people executes the pending of dispatch command instruction when reaching the execution time that the dispatch command indicates
The corresponding operation of task.Further, specific operation content can be according to the executive role of the cooperation task in the dispatch command
And/or execute the information determination of the other robot of the cooperation task.
In the embodiment of the present invention, by server detect pending task be triggered event when, lookup can be handled
Then the idle machine people of the event send the dispatch command for handling the event, so that idle machine people to idle machine human hair
According to the instruction of dispatch command, corresponding operation is executed, realizes the United Dispatching to robot so that other idle machines people
Or the lower robot of execution task priority can be formulated to the place needed most in time and execute corresponding task, so as to carry
The whole work efficiency of high robot.
Referring to Fig. 5, Fig. 5 is the structural schematic diagram for the server that fourth embodiment of the invention provides.As shown in figure 5, should
Server includes mainly:Searching module 501 and instruction module 502.
Searching module 501, for when detecting that scheduling events occur, searching the idle machine that can handle the scheduling events
Device people.
Instruction module 502, for sending the dispatch command for handling the scheduling events to the idle machine human hair, to control the sky
Not busy robot executes the operation of dispatch command instruction according to the instruction of the dispatch command.
Further, which includes that the current robot for executing task breaks down event, which refers to
The operation shown is the corresponding operation of the current execution task.
Further, which further includes that pending task is triggered event, and the operation of dispatch command instruction is also
For the corresponding operation of the pending task.
Further, the instruction information for executing the time comprising the pending task, the execution time in the dispatch command
The startup time including the pending task, or, having executed preamble according to the idle machine people that the default stand-by period determines
The time of next task is executed after distribution task.
Further, which includes cooperation task, then also includes in the dispatch command:The cooperation task is held
Row role and/or execute the cooperation task other robot information.
Further, searching module 501 are additionally operable to that according to the execution parameter of the pending task, lookup this can be handled
Pending task is triggered the idle machine people of event, which includes the type and/or executive capability of end effector
Range, which includes prudent range, obtain hold object form, can changing object obtain and hold and to obtain the state of holding operable
Any one of ability or several combinations.
Further, searching module 501 judge the scheduling events if being additionally operable to not find idle machine people
Whether priority is more than first level, and when the priority of the scheduling events is more than the first level, lookup can handle this
Scheduling events and the current priority for executing task are less than the robot of the first level, as idle machine people, Yi Jiruo
Idle machine people is found, then triggers the instruction module and executes the tune for sending the processing scheduling events to the idle machine human hair
The step of degree instruction.
The details of the present embodiment not to the greatest extent, please refers to description of the earlier figures 2 to embodiment illustrated in fig. 4, details are not described herein again.
It should be noted that in the exemplary embodiment of figure 5 above, the division of each function module is merely illustrative of, real
Can be as needed in the application of border, such as the convenient of realization of the configuration requirement or software of corresponding hardware considers, and will be above-mentioned
Function distribution is completed by different function modules, i.e., the internal structure of mobile terminal is divided into different function modules, with complete
At all or part of function described above.Moreover, in practical application, the corresponding function module in the present embodiment can be
By corresponding hardware realization, can also corresponding software be executed by corresponding hardware and completed.Each implementation that this specification provides
Example can all apply foregoing description principle, repeat no more below.
In the embodiment of the present invention, by server detect pending task be triggered event when, lookup can be handled
Then the idle machine people of the event send the dispatch command for handling the event, so that idle machine people to idle machine human hair
According to the instruction of dispatch command, corresponding operation is executed, realizes the United Dispatching to robot so that other idle machines people
Or the lower robot of execution task priority can be formulated to the place needed most in time and execute corresponding task, so as to carry
The whole work efficiency of high robot.
Fig. 6 is the hardware architecture diagram for the electronic equipment that fifth embodiment of the invention provides.The electronic equipment for example may be used
Be server, robot, with the sensing device further of data processing function or other computer equipments, it is above-mentioned each for executing
Each step in embodiment of the method.As shown in fig. 6, the electronic equipment includes:
One or more processors 810 and memory 820, in Fig. 8 by taking a processor 810 as an example.
Executing the electronic equipment of robot dispatching method can also include:Input unit 830 and output device 840.
Processor 810, memory 820, input unit 830 and output device 840 can be by buses 850 or other are logical
Letter mode connects, in Fig. 6 for being connected by bus.
Memory 820 is used as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, non-
Transient computer executable program and module, as the corresponding program of robot dispatching method in various embodiments of the present invention refers to
Order/module, for example, attached searching module shown in fig. 5 501 and instruction module 502.Processor 810 is stored in by operation
Non-transient software program, instruction and module in reservoir 820, to execute the various function application and data of electronic equipment
The robot dispatching method in above method embodiment is realized in processing.
Memory 820 may include storing program area and storage data field, wherein storing program area can store operation system
System, the required application program of at least one function.
Storage data field can be stored uses created data etc. according to above-mentioned server.In addition, memory 820 can be with
Can also include non-transient memory, for example, at least disk memory, a flash memories including high-speed random access memory
Part or other non-transient solid-state memories.In some embodiments, it includes remote relative to processor 810 that memory 820 is optional
The memory of journey setting, these remote memories can pass through network connection to server.The example of above-mentioned network includes but not
It is limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 830 can receive the number or character information of input, and generate with the user setting of server and
The related key signals input of function control.Output device 840 may include that display screen etc. shows equipment.
The said goods can perform the method that the embodiment of the present invention is provided, and has the corresponding function module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to what the present invention first was provided to 3rd embodiment
Method.
Sixth embodiment of the invention also provides a kind of computer readable storage medium, such as the memory 820 in Fig. 6.Thereon
One or more module being stored in computer program, including embodiment as shown in Figure 5.When above computer program quilt
When processor executes, the robot dispatching method in above-mentioned any means embodiment is realized.
It should be noted that for each method embodiment above-mentioned, describe, therefore it is all expressed as a series of for simplicity
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the described action sequence because
According to the present invention, certain steps may be used other sequences or be carried out at the same time.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to preferred embodiment, and involved action and module might not all be this hairs
Necessary to bright.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
It is to robot dispatching method provided by the present invention, server, electronic equipment and computer-readable storage above
The description of medium, for those skilled in the art, the thought of embodiment, in specific implementation mode and applies model according to the present invention
There will be changes are placed, to sum up, the content of the present specification should not be construed as limiting the invention.
Claims (20)
1. a kind of robot dispatching method, which is characterized in that the method includes:
Server searches the idle machine people that can handle the scheduling events when detecting that scheduling events occur;
The server send the dispatch command for handling the scheduling events to the idle machine human hair, to control the idle machine
Device people executes the operation of the dispatch command instruction according to the instruction of the dispatch command.
2. according to the method described in claim 1, it is characterized in that, the scheduling events include the current robot for executing task
Break down event, and the operation of the dispatch command instruction is the corresponding operation of the current execution task.
3. according to the method described in claim 1, it is characterized in that, the scheduling events include pending task is triggered thing
The operation of part, the dispatch command instruction is the corresponding operation of the pending task.
4. according to the method described in claim 3, it is characterized in that, the pending task includes loading and/or unloading.
5. according to the method described in claim 3, it is characterized in that, the lookup can handle the idle machine of the scheduling events
Device people includes:
According to the execution parameter of the pending task, the pending task can be handled by, which searching, is triggered the idle machine of event
Device people, it is described to execute the type and/or executive capability range that parameter includes end effector.
6. according to the method described in claim 5, it is characterized in that, the type of the end effector includes sucker, manipulator
And any one of fixture or several combinations.
7. according to the method described in claim 5, it is characterized in that, the executive capability range includes prudent range, obtains and hold object
Volume morphing, can changing object obtain and hold and obtain any one of operable ability of the state of holding or several combinations.
8. according to the method described in claim 3, it is characterized in that, including holding for the pending task in the dispatch command
The instruction information of row time;
The control idle machine people executes the operation of the dispatch command instruction according to the instruction of the dispatch command,
Including:
It controls instruction of the idle machine people according to the dispatch command and executes the dispatch command in the execution time
The operation of instruction.
9. according to the method described in claim 8, it is characterized in that, when the execution time includes the startup of the pending task
Between, or, executed preamble according to the idle machine people that the default stand-by period determines has executed next task after distribution task
Time.
10. the method according to any one of claim 1 to 8, which is characterized in that the lookup can handle the tune
The idle machine people of degree event, including:
The idle machine people of the scheduling events can be handled by searching;
If not finding the idle machine people, judge whether the priority of the scheduling events is more than first level, and works as
When the priority of the scheduling events is more than the first level, lookup can handle the scheduling events and currently execute task
Priority be less than the first level robot, as the idle machine people;
If finding the idle machine people, the tune for being sent to the idle machine human hair and handling the scheduling events is executed
The step of degree instruction.
11. according to the method described in claim 3, it is characterized in that, the pending task includes cooperation task;
Also include in the dispatch command:The executive role of the cooperation task and/or other machines for executing the cooperation task
The information of device people.
12. a kind of server, which is characterized in that including:
Searching module, for when detecting that scheduling events occur, searching the idle machine people that can handle the scheduling events;
Instruction module, for sending the dispatch command for handling the scheduling events to the idle machine human hair, to control the sky
Not busy robot executes the operation of the dispatch command instruction according to the instruction of the dispatch command.
13. server according to claim 12, which is characterized in that the scheduling events include the current machine for executing task
Device human hair gives birth to event of failure, and the operation of the dispatch command instruction is the corresponding operation of the current execution task.
14. server according to claim 12, which is characterized in that
The scheduling events further include that pending task is triggered event, and the operation of the dispatch command instruction is also described to wait holding
The corresponding operation of row task.
15. server according to claim 14, which is characterized in that
The instruction information of execution time comprising the pending task in the dispatch command, the execution time include described
The startup time of pending task has distributed or, having executed preamble according to the idle machine people that the default stand-by period determines
The time of next task is executed after task.
16. server according to claim 14, which is characterized in that
The pending task includes cooperation task;
Also include in the dispatch command:The executive role of the cooperation task and/or other machines for executing the cooperation task
The information of device people.
17. server according to claim 12, which is characterized in that the searching module is additionally operable to wait holding according to
The execution parameter of row task, the pending task can be handled by, which searching, is triggered the idle machine people of event, described to execute ginseng
Number includes the type and/or executive capability range of end effector, and the executive capability range includes prudent range, obtains and hold object
Form, can changing object obtain and hold and obtain any one of operable ability of the state of holding or several combinations.
18. server according to claim 12, which is characterized in that
The searching module judges that the priority of the scheduling events is if being additionally operable to not find the idle machine people
It is no to be more than first level, and when the priority of the scheduling events is more than the first level, lookup can handle the tune
Degree event and the current priority for executing task are less than the robot of the first level, as the idle machine people, and
If finding the idle machine people, triggers described instruction module and execute and described sent described in processing to the idle machine human hair
The step of dispatch command of scheduling events.
19. a kind of electronic equipment, which is characterized in that including:It memory, processor and is stored on the memory and can be in institute
State the computer program run on processor, which is characterized in that when the processor executes the computer program, realize as weighed
Profit requires the robot dispatching method described in any one of 1 to 11.
20. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
When being executed by processor, the robot dispatching method described in any one of claim 1 to 11 is realized.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/098617 WO2019036932A1 (en) | 2017-08-23 | 2017-08-23 | Robot scheduling method, server, electronic device, and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108701285A true CN108701285A (en) | 2018-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780006726.8A Pending CN108701285A (en) | 2017-08-23 | 2017-08-23 | Robot dispatching method, server, electronic equipment and readable storage medium storing program for executing |
Country Status (2)
| Country | Link |
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| CN (1) | CN108701285A (en) |
| WO (1) | WO2019036932A1 (en) |
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| CN114019960A (en) * | 2021-10-19 | 2022-02-08 | 北京云迹科技有限公司 | Scheduling method and device for multi-robot delivery |
| CN114019960B (en) * | 2021-10-19 | 2024-06-07 | 北京云迹科技股份有限公司 | Scheduling method and device for multi-robot delivery |
| CN114536339A (en) * | 2022-03-03 | 2022-05-27 | 深圳市大族机器人有限公司 | Method and device for controlling cooperative robot, cooperative robot and storage medium |
| CN114536339B (en) * | 2022-03-03 | 2024-05-31 | 深圳市大族机器人有限公司 | Control method and device for cooperative robot, cooperative robot and storage medium |
| CN115609578A (en) * | 2022-06-10 | 2023-01-17 | 上海飒智智能科技有限公司 | Automatic task handover mobile robot system and task handover method |
| WO2024017209A1 (en) * | 2022-07-18 | 2024-01-25 | 杭州海康机器人股份有限公司 | Scheduling control method and apparatus, and electronic device |
| WO2024032083A1 (en) * | 2022-08-09 | 2024-02-15 | 北京京东乾石科技有限公司 | Fault handling method and system for transfer robot |
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