CN112650226A - Robot scheduling method, device, equipment and medium - Google Patents
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Abstract
The embodiment of the disclosure relates to a robot scheduling method, a robot scheduling device, a robot scheduling apparatus and a robot scheduling medium, wherein the method comprises the following steps: acquiring robot operation data; determining target robots in a deadlock state if it is determined that the deadlock state occurs based on the robot operation data, wherein the number of the target robots is at least two; and when the standby planning path based on the target robot and the preset deadlock path length are determined to meet the avoidance condition, controlling the target robot to execute avoidance operation to remove the deadlock state. By adopting the technical scheme, when a deadlock state inevitably occurs and the robot in the deadlock state determines that no appropriate standby planning path exists based on the length of the deadlock path in the process of dispatching the robot, an avoidance mechanism can be adopted to remove deadlock, so that the problem of time waste caused by continuous waiting in the prior art is avoided, and the efficiency of deadlock unlocking is improved.
Description
Technical Field
The present disclosure relates to the field of robot control technologies, and in particular, to a method, an apparatus, a device, and a medium for scheduling a robot.
Background
Along with the continuous improvement of the automation and the intelligent degree of the domestic factory, the application of the mobile robot is more and more extensive, the application scale of the mobile robot is gradually increased, and the application environment of the mobile robot is more and more complex. With the increase of the number of robots and the complexity of the working environment, it is important to ensure that the mobile robot system executes tasks orderly and efficiently.
Although the existing mobile robot traffic control system solves the problem of traffic control of robot meeting and avoids collision of mobile robots, deadlock and other conditions still occur on some special paths, so that deadlock detection algorithm and unlocking are necessary. In the prior art, when the problem of deadlock of robot traffic control is solved, a method for replanning a path for a deadlock-occurring robot is generally adopted, but the problem that the deadlock cannot be still solved or the task execution efficiency of the robot is reduced may occur.
Disclosure of Invention
In order to solve the technical problems described above or at least partially solve the technical problems, the present disclosure provides a scheduling method, apparatus, device, and medium for a robot.
The embodiment of the disclosure provides a robot scheduling method, which includes:
acquiring robot operation data;
determining target robots in a deadlock state if it is determined that a deadlock state occurs based on the robot operation data, wherein the number of the target robots is at least two;
and when the standby planning path of the target robot and the preset deadlock path length are determined to meet the avoidance condition, controlling the target robot to execute avoidance operation to remove the deadlock state.
Optionally, the robot operation data includes an occupied state of a station to be operated of each operation robot in an operation state, where the occupied state includes an occupied state and an unoccupied state, and the number of the operation robots is at least two.
Optionally, the determining that a deadlock state occurs based on the robot operation data includes:
and if the occupation states of the to-be-operated stations of at least two operating robots are occupied states and mutually occupy the to-be-operated stations of the other side, determining that a deadlock state occurs.
Optionally, the determining that an avoidance condition is met based on the standby planned path of the target robot and the preset deadlock path length includes:
and if the target robots do not have the standby planning paths or if at least one target robot has the standby planning paths and the lengths of the standby planning paths are all larger than the length of the deadlock path, determining that an avoidance condition is met.
Optionally, the controlling the target robot to perform an avoidance operation to release the deadlock state includes:
determining an avoidance robot and a target avoidance station, wherein the avoidance robot is one of the target robots;
and controlling the avoidance robot to run to the target avoidance station so as to remove the deadlock state.
Optionally, the determining an avoidance robot and a target avoidance station of the avoidance robot include:
determining an initial avoidance station of each target robot;
and determining the target robot with the shortest path between the initial avoidance station and the current station as the avoidance robot, and determining the initial avoidance station of the avoidance robot as the target avoidance station.
Optionally, if it is determined that the deadlock state occurs based on the robot operation data, after determining the target robot in the deadlock state, the method further includes:
and if at least one target robot has a target planning path, determining that an avoidance condition is not met, and controlling the corresponding target robot to operate on the basis of the target planning path so as to remove the deadlock state, wherein the target planning path is a standby planning path with the length less than or equal to the length of the deadlock path.
The embodiment of the present disclosure further provides a scheduling apparatus for a robot, the apparatus including:
the data acquisition module is used for acquiring the robot operation data;
the state judgment module is used for determining target robots in a deadlock state if the deadlock state is determined to occur based on the robot operation data, wherein the number of the target robots is at least two;
and the unlocking module is used for controlling the target robot to execute avoidance operation to remove the deadlock state when the avoidance condition is determined to be met based on the standby planning path of the target robot and the preset deadlock path length.
Optionally, the robot operation data includes an occupied state of a station to be operated of each operation robot in an operation state, where the occupied state includes an occupied state and an unoccupied state, and the number of the operation robots is at least two.
Optionally, the state determining module includes a deadlock determining unit, and is specifically configured to:
and if the occupation states of the to-be-operated stations of at least two operating robots are occupied states and mutually occupy the to-be-operated stations of the other side, determining that a deadlock state occurs.
Optionally, the state judgment module includes an avoidance determining unit, and is specifically configured to:
and if the target robots do not have the standby planning paths or if at least one target robot has the standby planning paths and the lengths of the standby planning paths are all larger than the length of the deadlock path, determining that an avoidance condition is met.
Optionally, the unlocking module is specifically configured to:
determining an avoidance robot and a target avoidance station, wherein the avoidance robot is one of the target robots;
and controlling the avoidance robot to run to the target avoidance station so as to remove the deadlock state.
Optionally, the unlocking module is specifically configured to:
determining an initial avoidance station of each target robot;
and determining the target robot with the shortest path between the initial avoidance station and the current station as the avoidance robot, and determining the initial avoidance station of the avoidance robot as the target avoidance station.
Optionally, the apparatus further includes a planned unlocking module, configured to: if it is determined that a deadlock state occurs based on the robot operation data, after determining a target robot in the deadlock state,
and if at least one target robot has a target planning path, determining that an avoidance condition is not met, and controlling the corresponding target robot to operate on the basis of the target planning path so as to remove the deadlock state, wherein the target planning path is a standby planning path with the length less than or equal to the length of the deadlock path.
An embodiment of the present disclosure further provides an electronic device, which includes: a processor; a memory for storing the processor-executable instructions; the processor is used for reading the executable instructions from the memory and executing the instructions to realize the robot scheduling method provided by the embodiment of the disclosure.
The embodiment of the present disclosure also provides a computer-readable storage medium, which stores a computer program for executing the scheduling method of the robot provided by the embodiment of the present disclosure.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages: according to the scheduling scheme of the robot, the robot operation data are obtained; if the deadlock state is determined to occur based on the robot operation data, determining a target robot in the deadlock state; and when the standby planning path based on the target robot and the preset deadlock path length are determined to meet the avoidance condition, controlling the target robot to execute avoidance operation to remove the deadlock state. By adopting the technical scheme, when a deadlock state inevitably occurs and the robot in the deadlock state determines that no appropriate standby planning path exists based on the length of the deadlock path in the process of dispatching the robot, an avoidance mechanism can be adopted to remove deadlock, so that the problem of time waste caused by continuous waiting in the prior art is avoided, and the efficiency of deadlock unlocking is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a scheduling method for a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a robot scheduling system according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of another scheduling method for a robot according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a deadlock state of a robot according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of deadlock avoidance for a robot according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of deadlock and unlocking of a robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a scheduling apparatus of a robot according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
In the prior art, when the problem of deadlock of robot traffic control is solved, a method for replanning a path for a robot with deadlock is generally adopted, but under some extreme conditions, such as a special road, the replanning of the path still cannot solve the deadlock, or the replanning of the path may cause the robot to slow down the task execution rate. In order to solve the above problem, an embodiment of the present disclosure provides a scheduling method for a robot.
Fig. 1 is a flowchart illustrating a scheduling method for a robot according to an embodiment of the present disclosure, where the method may be performed by a scheduling apparatus for a robot, where the apparatus may be implemented by software and/or hardware, and may be generally integrated in an electronic device. As shown in fig. 1, the method includes:
and 101, acquiring robot operation data.
The robot may be a mobile robot capable of operating based on a planned path to complete a certain task, and the specific type of the robot is not limited in the embodiment of the present disclosure. The robot operation data refers to data related to the robot in an operation state, and in the embodiment of the disclosure, the robot operation data includes an occupied state of a station to be operated of each operation robot in the operation state, where the occupied state includes an occupied state and an unoccupied state, and the number of the operation robots is at least two. The station to be operated refers to the station to be next in the planned path of the operation robot. The occupied state may represent attribution of an occupation right to the path, the occupied state represents that a station in the path is already occupied by the robot, and the unoccupied state represents that a station in the path is not occupied by the robot.
In the embodiment of the present disclosure, path planning and scheduling control of a robot may be implemented by a robot scheduling system, for example, fig. 2 is a schematic structural diagram of the robot scheduling system provided in the embodiment of the present disclosure, where the robot scheduling system may include a path planning module and a traffic control module, the path planning module is configured to plan a walking path of the robot based on a task issued to obtain a planned path of the robot, and the traffic control module is configured to track and adjust the walking path of the robot and an occupation state of the path in real time according to the planned path, so as to achieve a purpose of orderly scheduling work of the robot.
And 102, if the deadlock state is determined to occur based on the robot operation data, determining target robots in the deadlock state, wherein the number of the target robots is at least two.
Deadlock is understood to be a phenomenon that when two or more robots are running, because of mutual contention of resources, a loop is generated or because of a blocking phenomenon caused by mutual communication, and if no external force acts, the robots cannot advance, and at this time, the system is called deadlock or the system is deadlock, and the processes which are always waiting for each other are called deadlock processes. That is, when two or more robots wait for each other to release path resources and cannot move continuously in the operation process, it is determined that a deadlock state occurs.
In the embodiment of the present disclosure, determining the occurrence of the deadlock state based on the robot operation data may include: and if the occupation states of the sites to be operated of the at least two robots are occupied states and the sites to be operated of the other side are occupied mutually, determining that a deadlock state occurs. If the to-be-operated stations of two or more than two operating robots are occupied and the to-be-operated stations of the two or more operating robots are mutually occupied to form a closed loop, the situation that no robot can move is indicated, and the deadlock state is determined to occur. For example, when the operation robot comprises A, B and C, if A occupies the station to be operated of B, B occupies the station to be operated of C, and C occupies the station to be operated of A, an occupation closed loop is formed, a deadlock state is determined to occur, and A, B and C are target robots in the deadlock state. For another example, when the operating robots are robots D and E which operate in opposite directions, if D occupies the station to be operated of E and E occupies the station to be operated of D, it is determined that a deadlock state occurs, and D and E are target robots in the deadlock state.
And 103, controlling the target robot to execute an avoidance operation to remove the deadlock state when the avoidance condition is met based on the standby planning path of the target robot and the preset deadlock path length.
The standby planned path refers to another different planned path which can reach the terminal point except the planned path value of the robot which is currently running, one robot can be provided with a plurality of standby planned paths, and the specific number is not limited. The deadlock path length may be a preset path length that does not affect the passing efficiency of the robot, that is, a limited deadlock recalculation path length, and when the planned path of the robot is greater than the deadlock path length, the passing efficiency of the robot may be affected, and an avoidance station needs to be determined again for avoidance. The specific value of the deadlock path length is not limited in the embodiment of the disclosure, and can be set according to the actual situation. Optionally, the deadlock path length may be determined based on a total aging requirement of a current map where the robot is located to execute a task, or may be determined based on an interactive resource limit consumed by the robot in operation.
In the embodiment of the present disclosure, determining that an avoidance condition is satisfied based on a standby planned path of a target robot and a preset deadlock path length may include: and if the target robots do not have the standby planning paths or if at least one target robot has the standby planning paths and the standby planning paths are all larger than the deadlock path length, determining that an avoidance condition is met. The avoidance condition is a condition that when the user is in a deadlock state and does not have a proper standby planning path for unlocking, unlocking is carried out through avoidance. When all the target robots do not have the standby planning paths, the avoidance condition can be determined to be met, or when the target robots have the standby planning paths which are all larger than the predetermined deadlock path length, the avoidance condition can also be determined to be met.
In the embodiment of the present disclosure, controlling the target robot to execute the avoidance operation to remove the deadlock state may include: determining an avoidance robot and a target avoidance station, wherein the avoidance robot is one of the target robots; and controlling the avoidance robot to run to the target avoidance station so as to remove the deadlock state. Specifically, any one target robot in a deadlock state is determined as an avoidance robot, and based on the current position, the target position, the current planned path of the avoidance robot and the planned paths of other target robots in the deadlock state except the avoidance robot, path resources waiting for each other are bypassed, a corresponding target avoidance station is determined, the avoidance robot is controlled to operate to the target avoidance station, and when other robots in the deadlock state can pass, the deadlock state is removed. The setting factors of the avoidance station can include at least one of the following factors: avoiding the current planned path of the avoidance robot, the approach principle, occupying less resources and the like, wherein when the station comprises an automatic door or an elevator, the occupied resources are more.
Optionally, determining an avoidance robot and a target avoidance station of the avoidance robot includes: determining an initial avoidance station of each target robot; and determining the target robot with the shortest path between the initial avoidance station and the current station as the avoidance robot, and determining the initial avoidance station of the avoidance robot as the target avoidance station. The initial avoidance station can be understood as an avoidance station preset for each target robot. In the embodiment of the disclosure, an initial avoidance site of each target robot can be obtained first, an avoidance path between the current site of each target robot and the corresponding initial avoidance site is determined, the target robot with the shortest avoidance path is determined as the avoidance robot, and the initial avoidance site of the avoidance robot is determined as the target avoidance site.
In the embodiment of the present disclosure, if it is determined that a deadlock state occurs based on the robot operation data, after determining the target robot in the deadlock state, the method may further include: and if at least one target robot has a target planning path, determining that the target robot does not meet an avoidance condition, and controlling the corresponding target robot to operate on the basis of the target planning path so as to remove the deadlock state, wherein the target planning path is a standby planning path which is less than or equal to the length of the deadlock path. Wherein the number of the target planning paths may be at least one. If at least one target robot has a standby planning path which is less than or equal to the length of the deadlock path, namely a target planning path, determining that an avoidance condition is not met, and controlling the corresponding target robot to operate based on the target planning path so as to relieve the deadlock state.
According to the scheduling scheme of the robot, the robot operation data are obtained; determining target robots in a deadlock state if it is determined that the deadlock state occurs based on the robot operation data, wherein the number of the target robots is at least two; and when the standby planning path based on the target robot and the preset deadlock path length are determined to meet the avoidance condition, controlling the target robot to execute avoidance operation to remove the deadlock state. By adopting the technical scheme, when a deadlock state inevitably occurs and the robot in the deadlock state determines that no appropriate standby planning path exists based on the length of the deadlock path in the process of dispatching the robot, an avoidance mechanism can be adopted to remove deadlock, so that the problem of time waste caused by continuous waiting in the prior art is avoided, and the efficiency of deadlock unlocking is improved.
Fig. 3 is a schematic flow chart of another robot scheduling method according to an embodiment of the present disclosure, and the present embodiment further optimizes the robot scheduling method based on the foregoing embodiment. As shown in fig. 3, the method includes:
and step 201, acquiring robot operation data.
The robot operation data comprises the occupation states of the stations to be operated of the operation robots in the operation states, wherein the occupation states comprise the occupied states and the unoccupied states, and the number of the operation robots is at least two.
Specifically, determining the deadlock condition based on the robot operation data may include: and if the occupation states of the sites to be operated of the at least two robots are occupied states and the sites to be operated of the other side are occupied mutually, determining that a deadlock state occurs.
And step 205, determining that an avoidance condition is met, and controlling the target robot to execute an avoidance operation to remove a deadlock state.
And if the target robots do not have the standby planning paths or if at least one target robot has the standby planning paths and the standby planning paths are all larger than the length of the deadlock path, determining that an avoidance condition is met, and controlling the target robots to execute avoidance operation to remove the deadlock state.
In the embodiment of the present disclosure, controlling the target robot to execute the avoidance operation to remove the deadlock state may include: determining an avoidance robot and a target avoidance station, wherein the avoidance robot is one of the target robots; and controlling the avoidance robot to run to the target avoidance station so as to remove the deadlock state. Optionally, the determining an avoidance robot and a target avoidance station of the avoidance robot include: determining an initial avoidance station of each target robot; and determining the target robot with the shortest path between the initial avoidance station and the current station as the avoidance robot, and determining the initial avoidance station of the avoidance robot as the target avoidance station.
And step 206, determining that the avoidance condition is not met, and controlling the corresponding target robot to operate based on the target planning path so as to remove the deadlock state.
And the target planning path is a standby planning path which is less than or equal to the length of the deadlock path.
And if at least one target robot has a target planning path, determining that the target robot does not meet an avoidance condition, and controlling the corresponding target robot to operate on the basis of the target planning path so as to remove the deadlock state, wherein the target planning path is a standby planning path which is less than or equal to the length of the deadlock path.
Next, a scheduling scheme of the robot in the embodiment of the present disclosure is specifically described by a specific example, and specifically refer to fig. 4, fig. 5, and fig. 6.
Fig. 4 is a schematic diagram of a deadlock state of a robot provided by an embodiment of the present disclosure, where a task executed by the robot No. 1 is from a current position L3 to A3, a planned path is L3-L6-L7-L8-L9-A3, a task executed by the robot No. 2 is from a current position A3 to a1, and a planned path is A3-L9-L8-L7-L6-L3-L3-L4-L5-a 1. According to the planned path, the robot No. 1 and the robot No. 2 are both in the walking path of the other side, and a deadlock state occurs; the path planning module can know that no standby planning path exists for the robot No. 1 and the robot No. 2, the avoidance condition is determined to be met, and an avoidance mechanism is triggered.
Fig. 5 is a schematic diagram of deadlock avoidance of a robot according to an embodiment of the present disclosure, as shown in fig. 5, a walking path of the No. 1 robot is in a walking path of the No. 2 path, the No. 1 robot may be set as an avoidance robot, and a suitable avoidance station is selected as a 2; replanning the path L3-L6-A2 of the robot No. 1, and scheduling the robot No. 1 to walk to A2 by the traffic control module and waiting for the robot No. 2 to pass at A2; due to the change of the walking path of the robot No. 1, the robot No. 2 acquires the path resources A3-L9-L8-L7-L6-L3, and the traffic control module schedules the robot No. 2 to walk to L3.
Fig. 6 is a schematic diagram of deadlock and unlocking of a robot according to an embodiment of the present disclosure, as shown in fig. 6, after the robot No. 2 travels to L3, no overlap occurs between the travel path of the robot No. 1; the robot No. 1 replans a path A2-L6-L7-L8-L9-A3, the traffic control module schedules the robot No. 1 to walk to A3, the robot No. 2 is continuously scheduled to walk to A1, the deadlock state is removed, and the robot No. 1 and the robot No. 2 complete tasks.
In the embodiment of the disclosure, when deadlock occurs, the length of the deadlock recalculation path is limited on the basis of replanning the path for the robot, and when the replanned path cannot meet the condition or no other path can be planned, the invention adopts a method for enabling the robot to walk to the nearby point position for avoiding, thereby solving the problem of deadlock of traffic control, further improving the efficiency of executing tasks of the mobile robot, and gaining the greatest benefits for users.
Compared with the existing method for unlocking the deadlock of the robot traffic control, when the spare planned path is too long and affects the efficiency of the robot in executing tasks, an avoidance mechanism is adopted, so that the efficiency of unlocking the robot is improved; and when the robots in the deadlock state can not plan the standby planning path to pass, the prior art adopts the continuous waiting mode, and the avoidance mechanism is adopted in the invention, so that the path resources of the robots waiting for each other are bypassed, the traffic control deadlock is timely removed, the performance of the traffic control module is greatly improved, and manual unlocking caused by manual intervention is avoided.
According to the scheduling scheme of the robot, the robot operation data are obtained; if the deadlock state is determined to occur based on the robot operation data, determining a target robot in the deadlock state; when the standby planning path based on the target robot and the preset deadlock path length are determined to meet the avoidance condition, controlling the target robot to execute avoidance operation to remove the deadlock state; and when the standby planning path based on the target robot and the preset deadlock path length are determined to meet the non-avoidance condition, controlling the corresponding target robot to operate based on the target planning path so as to remove the deadlock state, wherein the target planning path is the standby planning path less than or equal to the deadlock path length. By adopting the technical scheme, when a deadlock state inevitably occurs and the robot in the deadlock state determines that no appropriate standby planning path exists based on the length of the deadlock path in the process of dispatching the robot, an avoidance mechanism can be adopted to remove deadlock, so that the problem of time waste caused by continuous waiting in the prior art is avoided, and the efficiency of deadlock unlocking is improved.
Fig. 7 is a schematic structural diagram of a scheduling apparatus of a robot according to an embodiment of the present disclosure, where the scheduling apparatus may be implemented by software and/or hardware, and may be generally integrated in an electronic device. As shown in fig. 7, the apparatus includes:
the data acquisition module 301 is used for acquiring robot operation data;
a state judgment module 302, configured to determine a target robot in a deadlock state if it is determined that the deadlock state occurs based on the robot operation data, where the number of the target robots is at least two;
and the unlocking module 303 is configured to control the target robot to execute an avoidance operation to remove the deadlock state when it is determined that an avoidance condition is satisfied based on the standby planned path of the target robot and a preset deadlock path length.
According to the scheduling scheme of the robot, the robot operation data are obtained; if the deadlock state is determined to occur based on the robot operation data, determining a target robot in the deadlock state; and when the standby planning path based on the target robot and the preset deadlock path length are determined to meet the avoidance condition, controlling the target robot to execute avoidance operation to remove the deadlock state. By adopting the technical scheme, when a deadlock state inevitably occurs and the robot in the deadlock state determines that no appropriate standby planning path exists based on the length of the deadlock path in the process of dispatching the robot, an avoidance mechanism can be adopted to remove deadlock, so that the problem of time waste caused by continuous waiting in the prior art is avoided, and the efficiency of deadlock unlocking is improved.
Optionally, the robot operation data includes an occupied state of a station to be operated of each operation robot in an operation state, where the occupied state includes an occupied state and an unoccupied state, and the number of the operation robots is at least two.
Optionally, the state determining module 302 includes a deadlock determining unit, and is specifically configured to:
and if the occupation states of the to-be-operated stations of at least two operating robots are occupied states and mutually occupy the to-be-operated stations of the other side, determining that a deadlock state occurs.
Optionally, the state judgment module 302 includes an avoidance determining unit, and is specifically configured to:
and if the target robots do not have the standby planning paths, or if at least one target robot has the standby planning paths and the standby planning paths are all larger than the length of the deadlock path, determining that an avoidance condition is met.
Optionally, the unlocking module 303 is specifically configured to:
determining an avoidance robot and a target avoidance station, wherein the avoidance robot is one of the target robots;
and controlling the avoidance robot to run to the target avoidance station so as to remove the deadlock state.
Optionally, the unlocking module 303 is specifically configured to:
determining an initial avoidance station of each target robot;
and determining the target robot with the shortest path between the initial avoidance station and the current station as the avoidance robot, and determining the initial avoidance station of the avoidance robot as the target avoidance station.
Optionally, the apparatus further includes a planned unlocking module, configured to: if it is determined that a deadlock state occurs based on the robot operation data, after determining a target robot in the deadlock state,
and if at least one target robot has a target planning path, determining that an avoidance condition is not met, and controlling the corresponding target robot to operate on the basis of the target planning path so as to remove the deadlock state, wherein the target planning path is a standby planning path with the length less than or equal to the length of the deadlock path.
The robot scheduling device provided by the embodiment of the disclosure can execute the robot scheduling method provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 8, the electronic device 400 includes one or more processors 401 and memory 402.
The processor 401 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.
In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 403 may also include, for example, a keyboard, a mouse, and the like.
The output device 404 may output various information to the outside, including the determined distance information, direction information, and the like. The output devices 404 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 400 relevant to the present disclosure are shown in fig. 8, omitting components such as buses, input/output interfaces, and the like. In addition, electronic device 400 may include any other suitable components depending on the particular application.
In addition to the above methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the scheduling method of a robot provided by embodiments of the present disclosure.
The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to execute the scheduling method of a robot provided by the embodiments of the present disclosure.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for scheduling a robot, comprising:
acquiring robot operation data;
determining target robots in a deadlock state if it is determined that a deadlock state occurs based on the robot operation data, wherein the number of the target robots is at least two;
and when the standby planning path of the target robot and the preset deadlock path length are determined to meet the avoidance condition, controlling the target robot to execute avoidance operation to remove the deadlock state.
2. The method according to claim 1, wherein the robot operation data includes an occupied state of a station to be operated of each operating robot in an operating state, wherein the occupied state includes an occupied state and an unoccupied state, and the number of the operating robots is at least two.
3. The method of claim 2, wherein determining the deadlock condition based on the robot operation data comprises:
and if the occupation states of the to-be-operated stations of at least two operating robots are occupied states and mutually occupy the to-be-operated stations of the other side, determining that a deadlock state occurs.
4. The method of claim 1, wherein the determining that an avoidance condition is satisfied based on the backup planned path of the target robot and a preset deadlock path length comprises:
and if the target robots do not have the standby planning paths or if at least one target robot has the standby planning paths and the lengths of the standby planning paths are all larger than the length of the deadlock path, determining that an avoidance condition is met.
5. The method of claim 1, wherein said controlling the target robot to perform an avoidance operation to resolve the deadlock condition comprises:
determining an avoidance robot and a target avoidance station, wherein the avoidance robot is one of the target robots;
and controlling the avoidance robot to run to the target avoidance station so as to remove the deadlock state.
6. The method of claim 5, wherein the determining an avoidance robot and a target avoidance station of the avoidance robot comprises:
determining an initial avoidance station of each target robot;
and determining the target robot with the shortest path between the initial avoidance station and the current station as the avoidance robot, and determining the initial avoidance station of the avoidance robot as the target avoidance station.
7. The method of claim 1, wherein, if it is determined that a deadlock condition occurs based on the robot operation data, after determining the target robot in the deadlock condition, further comprising:
and if at least one target robot has a target planning path, determining that an avoidance condition is not met, and controlling the corresponding target robot to operate on the basis of the target planning path so as to remove the deadlock state, wherein the target planning path is a standby planning path with the length less than or equal to the length of the deadlock path.
8. A robot scheduling apparatus, comprising:
the data acquisition module is used for acquiring the robot operation data;
the state judgment module is used for determining target robots in a deadlock state if the deadlock state is determined to occur based on the robot operation data, wherein the number of the target robots is at least two;
and the unlocking module is used for controlling the target robot to execute avoidance operation to remove the deadlock state when the avoidance condition is determined to be met based on the standby planning path of the target robot and the preset deadlock path length.
9. An electronic device, characterized in that the electronic device comprises:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the robot scheduling method of any one of the above claims 1-7.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the method of scheduling of a robot according to any of the above claims 1-7.
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