CN115107042B

CN115107042B - Robot scheduling identifier resetting method, device, equipment and storage medium

Info

Publication number: CN115107042B
Application number: CN202211050164.6A
Authority: CN
Inventors: 黄泽; 周启学; 李翔远
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-11-11
Anticipated expiration: 2042-08-31
Also published as: CN115107042A

Abstract

The invention discloses a robot scheduling identifier resetting method, a device, equipment and a storage medium. The method comprises the following steps: acquiring scheduling identifications of at least two robots in a target scene; determining a target robot group according to the scheduling identification; the target robot group comprises at least two target robots with the same scheduling identification; and selectively resetting the dispatching identification of the target robot according to the robot information corresponding to the target robot, wherein the robot information comprises position information. The embodiment of the invention solves the problem of robot scheduling caused by limited capacity of storing the robot scheduling identification in a scene.

Description

Robot scheduling identifier resetting method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of data processing, in particular to a method, a device, equipment and a storage medium for resetting a robot scheduling identifier.

Background

In the application of robots, especially in complex scenes such as restaurants, hotels and the like, if a plurality of robots are operated simultaneously, the situation that scheduling is needed often occurs. For example, when two robots move in opposite directions and enter a narrow lane at the same time, and cannot pass through the narrow lane at the same time, it is necessary that one robot is scheduled to leave the narrow lane first and the other robot passes through the narrow lane first, which is one of the scheduling situations.

Disclosure of Invention

The applicant finds that two or more robots which can trigger scheduling operate simultaneously, and the scheduling based on near field communication is more efficient and stable in a complex scene. However, since the near field communication bandwidth is narrow and the size of the communication data packet is strictly limited, the capacity for storing the robot scheduling ID (Identity document) is limited in a scene, and thus there is a problem in robot scheduling. The invention provides a method, a device, equipment and a storage medium for resetting a robot scheduling identifier, which are used for solving the problem of robot scheduling caused by limited capacity of the stored robot scheduling identifier in a scene.

According to an aspect of the present invention, there is provided a robot scheduling identity resetting method, the method including: acquiring scheduling identifications of at least two robots in a target scene; determining a target robot group according to the scheduling identification; wherein the target robot group comprises at least two target robots with the same scheduling identification; and selectively resetting the dispatching identification of the target robot according to the robot information corresponding to the target robot, wherein the robot information comprises position information.

According to another aspect of the present invention, there is provided a robot scheduling flag resetting apparatus, the apparatus including: the scheduling identifier acquisition module is used for acquiring scheduling identifiers of at least two robots in a target scene; the target robot group determining module is used for determining a target robot group according to the scheduling identifier; wherein the target robot group comprises at least two target robots with the same scheduling identification; and the scheduling identifier resetting module is used for selectively resetting the scheduling identifier of the target robot according to the robot information corresponding to the target robot, wherein the robot information comprises position information.

According to another aspect of the present invention, there is provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the robot scheduling identity resetting method according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the robot scheduling identity resetting method according to any one of the embodiments of the present invention when the computer instructions are executed.

The embodiment scheme of the invention solves the problem of robot scheduling caused by the limited size of a communication data packet in the target scene by determining the target robots with the same identification in the target scene and selectively resetting the scheduling identification of the target robots according to the robot information corresponding to the target robots, and realizes the dynamic adjustment of the scheduling identification of the robots under the condition that the capacity of the stored scheduling identification of the robots is limited, so that the robots can be scheduled normally, and the condition that the robots with the same scheduling identification have abnormal scheduling in the scheduling process is avoided.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a robot scheduling identifier resetting method according to an embodiment of the present invention;

fig. 2A is a flowchart of a robot scheduling identifier resetting method according to a second embodiment of the present invention;

fig. 2B is a schematic view of a scenario of resetting a robot scheduling identifier according to a second embodiment of the present invention;

fig. 3 is a flowchart of a robot scheduling identifier resetting method according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a robot scheduling identifier resetting apparatus according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device implementing the robot scheduling identifier resetting method according to the embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a robot scheduling identifier resetting method according to an embodiment of the present invention, where this embodiment is applicable to a plurality of robots, especially when the available number of scheduling identifiers is smaller than the number of robots, for example, when the size of a communication data packet in a narrow bandwidth of near field communication is limited, a robot is scheduled, the method may be executed by a robot scheduling identifier resetting device, the robot scheduling identifier resetting device may be implemented in a form of hardware and/or software, and the robot scheduling identifier resetting device may be configured in an electronic device. As shown in fig. 1, the method includes:

and S110, acquiring the scheduling identifications of at least two robots in the target scene.

The target scene may be an application scene where at least two robots exist and may need to be scheduled. For example, the target scenario may be a robotic restaurant meal delivery scenario, a robotic hotel transport scenario, or the like.

The scheduling identifier may be an identifier used for representing the identity of the robot when the robot performs scheduling. For example, the schedule identification may be a schedule ID (Identity document).

For example, the scheduling identifications of at least two robots in the target scene can be acquired by the cloud in real time or at regular time; the cloud can also obtain the scheduling identifications of at least two robots in the target scene when receiving the scheduling request sent by the robots in the target scene. The obtaining manner of the scheduling identifier may be specifically determined according to actual requirements, which is not limited in this embodiment.

S120, determining a target robot group according to the scheduling identification; the target robot group comprises at least two target robots with the same scheduling identification.

It should be noted that, in the target scene, in the robot scheduling process, the robots may communicate with each other through a near field communication technology with a narrow bandwidth, so as to improve the stability of scheduling. Wherein the near field communication may be by Lora communication technology. However, since the size of the communication data packet is strictly limited under the narrow bandwidth of near field communication, the scheduling identifiers corresponding to the robots in the target scene may be the same, and scheduling anomalies frequently occur.

Wherein, the target robot group may be a robot group composed of robots having the same scheduling identity. Wherein, according to the scheduling identifier, at least one target robot group can be determined. The target robot group may include at least two target robots having the same scheduling identification.

After the scheduling identifications corresponding to the robots in the target scene are obtained, the target robots with the same scheduling identifications are determined according to the obtained scheduling identifications, and the target robots with the same scheduling identifications form a target robot group.

For example, if the number of the robots in the acquired target scene is eleven and the scheduling identifier is represented by three-bit binary data, the scheduling identifiers of the robots may be 0, 1, 2, 3, 4, 5, 6, and 7, respectively, two robots with the scheduling identifier of 1 may be determined as one target robot group, and three robots with the scheduling identifier of 4 may be determined as one target robot group.

And S130, selectively resetting the dispatching identification of the target robot according to the robot information corresponding to the target robot, wherein the robot information comprises position information.

The robot information may include position information, which may be, for example, position coordinates of the robot.

Determining whether the position distance between the target robots meets a preset distance judgment condition or not according to the position information corresponding to each target robot in the target robot group, and if so, resetting the scheduling identifier of the target robot meeting the distance judgment condition; if not, the scheduling identification of the target robot does not need to be reset. Wherein, the distance judgment condition may be that the positional distance between the target robots is smaller than a preset distance threshold. Wherein the distance threshold may be preset by a skilled person, for example, the distance threshold may be 2 meters.

Illustratively, if the target robot a and the target robot B exist in the target robot group, and the preset distance determination condition is that the positional distance between the target robots is less than 2 meters. The positional distance AB between the target robot a and the target robot B is determined. If the position distance AB is less than 2 m, resetting the scheduling identifier of the target robot A or the target robot B; if the position distance AB is not less than 2 meters, the scheduling marks of the target robot A and the target robot B do not need to be reset.

The resetting mode of the dispatching marks of the target robots meeting the distance judgment condition can be that related technicians manually select and set different dispatching marks for each target robot; or the cloud automatically selects any target scheduling identifier from the scheduling identifiers corresponding to other robots in the target scene, and resets the scheduling identifier of the target robot based on the target scheduling identifier; as long as the same scheduling id does not exist in the target robot group after the reset. For example, the scheduling id of any target robot may be reset to the target scheduling id. Wherein the other robot may be a robot other than the target robot in the target scene.

Example two

Fig. 2A is a flowchart of a robot scheduling identifier resetting method according to a second embodiment of the present invention, and the second embodiment of the present invention is optimized and improved based on the foregoing technical solutions.

Further, the step of selectively resetting the scheduling identifier of the target robot according to the robot information corresponding to the target robot is refined into the step of determining the robot to be processed according to the robot information corresponding to the target robot; and resetting part of the dispatching identifications of the target robots according to the corresponding dispatching identifications of the to-be-processed robots. "to refine the reset pattern of the dispatch flags for the target robot.

As shown in fig. 2A, the method includes the following specific steps:

s210, obtaining the dispatching identification of at least two robots in the target scene.

S220, determining a target robot group according to the scheduling identification; the target robot group comprises at least two target robots with the same scheduling identification.

And S230, determining the robot to be processed according to the robot information corresponding to the target robot.

Wherein, the robot to be processed can be the robot involved in resetting the scheduling identification. The robot to be treated may include at least one target robot therein.

The robot information may be position information. Whether the position distance between the target robots is smaller than a preset distance threshold value or not can be judged according to the position information corresponding to the target robots; if yes, at least one target robot is selected from the target robots with the position distances smaller than a preset distance threshold value to serve as a first robot to be processed; if not, the robot to be processed is not determined. After the first robot to be processed is determined, selecting a robot for resetting the scheduling identifier of the first robot to be processed from other robots, and taking the selected robot as a second robot to be processed. And taking the first robot to be processed and the second robot to be processed as robots to be processed, and resetting the scheduling identifier of the target robot in the following process. Wherein the other robot may be a robot other than the target robot in the target scene. The selection mode of the second robot to be processed can be manual selection of related personnel or automatic selection through a cloud.

In order to comprehensively consider the determination of the robot to be processed in the presence of at least two target robots having the same scheduling identifier and further improve the accuracy of the determination of the robot to be processed, the robot to be processed may be determined in the following manner.

In an optional embodiment, acquiring the scheduling identifications of at least two robots under the target scene map comprises: and acquiring the dispatching identification of the corresponding robot from at least two robots in the current polled target scene.

For example, at least one scene, such as multiple restaurants and hotels, within the management range of the cloud server and a robot list in each scene may be stored in the cloud server, where the robot list may include a robot scheduling identifier and robot information. And the robot list corresponding to each scene can be updated in real time.

Illustratively, the cloud server performs timing loop processing on each stored scene, and takes the currently polled scene as a target scene. At least two robots in the target scene are determined, and the dispatching identification of the corresponding robots is obtained. The method for acquiring the scheduling identifier of the corresponding robot can be acquired from a robot list stored in a cloud server; or, in order to improve the real-time performance of the acquired scheduling identifier of the robot, the cloud server may actively acquire the robot scheduling identifiers corresponding to the at least two robots in the target scene, or may also acquire the robot information corresponding to the at least two robots, when polling the target scene.

In the optional embodiment, by acquiring the scheduling identifier of the corresponding robot from at least two robots in the currently polled target scene, whether the robot in the target scene needs to be actively judged by the cloud server, and before the robot triggers scheduling, the scheduling identifier of the robot which is likely to trigger scheduling is timely reset.

In an optional embodiment, the determining the robot to be processed according to the robot information corresponding to the target robot comprises: determining a first position distance between the target robots according to the position information corresponding to each target robot; if the first position distance is smaller than a preset distance threshold value, selecting at least one target robot as a first robot to be processed; determining a second position distance between the first robot to be processed and other robots; wherein the other robots are robots of the at least two robots except the target robot in the target scene; determining a second robot to be processed according to the second position distances; and taking the first robot to be processed and the second robot to be processed as robots to be processed.

Wherein the position information may be position coordinates of the robot. The first positional distance may be a positional distance between the target robots determined from the positional information of the target robots. For example, if there are two target robots a and B having the same scheduling id, the first positional distance is the positional distance between the target robot a and the target robot B. If there are three target robots a, B and C with the same scheduling identity, the first position distance comprises the position distance AB between target robot a and target robot B, the position distance AC between target robot a and target robot C, and the position distance BC between target robot B and target robot C.

Wherein the distance threshold value can be preset by a related technical person. For example, the distance threshold may be 2 meters.

Optionally, the distance threshold may also be determined in the following manner:

wherein n is a distance threshold; and m is the position distance for triggering the scheduling logic. For example, the algorithm layer sets the scheduling logic to be triggered when the distance between the robots is m. A is a constant term and is greater than 1, and can be set by related technicians according to actual requirements. For example, a may be set to 3. In other words, in this embodiment, before the scheduling is triggered, whether the scheduling identifier of the robot needs to be reset or not can be determined according to the distance threshold, so that the condition that the robot scheduling identifiers triggering the scheduling are the same is avoided, and the efficiency of subsequent scheduling is improved.

Wherein, the first robot to be processed can be at least one target robot for resetting the scheduling identifier.

And determining a first position distance between the target robots according to the position information corresponding to each target robot. If at least two target robots with the distance less than a preset distance threshold exist in the first position distance, at least one target robot is selected from the at least two target robots to serve as a first robot to be processed. If the target robot smaller than the preset distance threshold value does not exist in the first position distance, the robot to be processed does not need to be determined, namely, the target robot does not need to be subjected to scheduling identifier resetting.

It should be noted that the number of the first to-be-processed robots is related to the number of the target robots satisfying that the first position distance is smaller than the preset distance threshold. For example, if the number of target robots satisfying that the first position distance is smaller than the preset distance threshold is 2, any 1 target robot may be selected from the 2 target robots satisfying the condition as the first robot to be processed. If the number of the target robots meeting the condition that the first position distance is smaller than the preset distance threshold is 3, any 2 target robots can be selected from the 3 target robots meeting the condition as the first to-be-processed robots. Therefore, the whole reset is not needed, and the data processing amount and the time required by the reset are reduced.

Illustratively, if there are a target robot a, a target robot B, and a target robot C having the same identity, the first positional distance includes a positional distance AB between the target robot a and the target robot B, a positional distance BC between the target robot B and the target robot C, and a positional distance AC between the target robot a and the target robot C, respectively. If the position distance AB is smaller than the preset distance threshold, the position distance BC and the position distance AC are not smaller than the preset distance threshold. Any one of the target robot a and the target robot B can be selected as the first robot to be processed. If the position distance AB and the position distance BC are both smaller than a preset distance threshold, the target robots involved with the position distance AB and the position distance BC all include a target robot B, and the target robot B can be preferentially taken as a first robot to be processed. If the position distance AB, the position distance BC and the position distance AC are all smaller than a preset distance threshold, 2 robots to be treated can be arbitrarily selected from the target robot a, the target robot B and the target robot C. For example, the first robot to be processed may be a target robot a and a target robot B.

After the first robot to be processed is determined, a second positional distance between the first robot to be processed and the other robot is determined. Wherein, the other robots are robots except the target robot in the robot under the target scene. The second robot to be processed may be selected from the other robots by the skilled person based on the determined respective second positional distances. The second to-be-processed robot may be a robot for performing schedule identifier reset on the first to-be-processed robot.

For example, if the first robot to be processed is the target robot a, the other robots include a robot B, a robot C, and a robot D. A second positional distance AB between the target robot a and the robot B, a second positional distance AC between the target robot a and the robot C, and a second positional distance AD between the target robot a and the robot D are determined, respectively. The second robot to be processed may be selected by the relevant technician from robots B, C, and D according to the second position distance AB, the second position distance AC, and the second position distance AD, in combination with actual requirements.

If there are at least two first to-be-processed robots, a second to-be-processed robot corresponding to each first to-be-processed robot is determined. Namely, each first robot to be processed corresponds to one second robot to be processed.

According to the optional embodiment, the first robot to be processed is determined based on the preset distance threshold according to the position information corresponding to each target robot, and the first robot to be processed is accurately determined. And determining the second robot to be processed according to the second position distance between the first robot to be processed and other robots except the target robot in the scene, so that the second robot to be processed is accurately determined. The method comprehensively considers the determination of the robot to be processed under the condition that at least two target robots with the same scheduling identification exist, and improves the determination accuracy of the robot to be processed.

It should be noted that, in the process of determining the second robot to be processed, in order to implement automated determination of the second robot to be processed and to improve the accuracy of determination of the second robot to be processed, the second robot to be processed may be determined in the following manner.

In an alternative embodiment, determining the second robot to be processed according to the respective second position distances includes: selecting a second position distance with a larger value as a target position distance; and taking other robots corresponding to the target position distance as second robots to be processed.

And selecting the second position distance with a larger value (for example, the largest value) from the determined second position distances as a target position distance, and taking the other robots corresponding to the target position distance as second robots to be processed.

Illustratively, if the first robot to be processed is the target robot a, the second positional distance includes a positional distance AB between the target robot a and the other robot B, a positional distance AC between the target robot a and the other robot C, and a positional distance AD between the target robot a and the other robot D. Of the position distance AB, the position distance AC, and the position distance AD, the value of the position distance AC is the largest, and the position distance AC may be taken as the target position distance. Meanwhile, the other robot C corresponding to the target position distance AC is taken as a second robot to be processed.

In the optional embodiment, the other robot corresponding to the target position distance with the larger value in the second position distances is used as the second robot to be processed, so that the second robot to be processed is automatically determined, and the accuracy of determining the second robot to be processed is improved.

It should be noted that, in order to improve the accuracy of determining the robot to be processed, the robot information may further include pose information, and in the process of determining the robot to be processed, the pose information of the robot may be comprehensively considered in addition to the position information of the robot.

In an optional embodiment, the robot information further comprises attitude information, and the robot to be processed is determined according to the robot information corresponding to the target robot, including; determining a first position distance between the target robots according to the position information corresponding to each target robot; if the first position distance is smaller than a preset distance threshold, determining the triggering and scheduling probability of the target robot according to the attitude information; if the triggering scheduling probability is higher than a set threshold value, selecting at least one target robot as a first robot to be processed; determining a second position distance and a relative attitude relationship between the first robot to be processed and other robots; wherein the other robots are robots of the at least two robots except the target robot in the target scene; determining a second robot to be processed according to the distance between the second positions and the relative attitude relationship; and taking the first robot to be processed and the second robot to be processed as robots to be processed.

In this optional embodiment, determining the first position distance between the target robots is the same as the determination in the above optional embodiment, and is not described in detail in this optional embodiment.

Wherein, the posture information of the robot can be the driving posture direction of the robot. And determining that the different robots travel along the same direction or travel along different directions according to the attitude information of each robot.

The probability of triggering scheduling can be the probability of possibly triggering scheduling during the driving process of the two target robots. For example, if two target robots travel on the same path or road section and pose directions are opposite, scheduling is easily triggered, and the probability of triggering and scheduling corresponding to the target robots is high; if two target robots travel on the same path or road section but have the same pose and direction and are not easy to trigger scheduling, the triggering scheduling probability corresponding to the target robots is low; or, if the two target robots travel on different paths or road sections and are not easy to trigger scheduling no matter the pose directions are the same or opposite, the corresponding triggering scheduling probability of the target robots is low.

The set threshold of the trigger scheduling probability may be preset by a relevant technician, for example, the set threshold of the trigger scheduling probability may be 80%.

Exemplarily, if a first position distance smaller than a preset distance threshold exists in the first position distances, determining a trigger scheduling probability of the target robot according to the posture information; if the first position distance smaller than the preset distance threshold does not exist in the first position distances, the robot to be processed does not need to be determined, namely, the dispatching identification of the target robot does not need to be reset.

If the first position distance smaller than the preset distance threshold exists, determining the triggering and scheduling probability of the target robot according to the attitude information; if the scheduling triggering probability is higher than a set threshold value, selecting at least one target robot as a first robot to be processed; if the scheduling triggering probability is not higher than the set threshold, the robot to be processed does not need to be determined, namely, the target robot does not need to be subjected to scheduling identifier resetting.

And if the triggering scheduling probability is higher than a set threshold value, selecting at least one target robot as a first robot to be processed. The determination method of the first robot to be processed is the same as that in the above-mentioned alternative embodiment, and details thereof are not repeated in this alternative embodiment.

Determining a second position distance and a relative attitude relationship between the first robot to be processed and other robots; and determining a second robot to be processed according to the distance of each second position and the relative attitude relationship. The determination mode may be, for example, selecting, as the second robot to be processed, another robot having a larger value of distance from the first robot to be processed and having a posture not opposite (e.g., opposite) to the second position of the first robot to be processed.

In the optional embodiment, the attitude information of the robot is introduced in the process of determining the robot to be processed, the position information and the attitude information of the robot are comprehensively considered, and the judgment condition of the triggering scheduling probability of the target robot is introduced in the process of determining the first robot to be processed, so that the accuracy of determining the first robot to be processed is improved. And determining the second robot to be processed according to the determined second position distances and the relative attitude relationship, so that the accuracy of determining the second robot to be processed is improved. This optional embodiment achieves accurate determination of the robot to be processed, thereby improving the accuracy of resetting the scheduling identifier of the target robot. The situation that the scheduling identifier is reset without resetting can be reduced.

And S240, resetting the scheduling identifier of part of target robots according to the corresponding scheduling identifier of the robot to be processed.

In an optional embodiment, after the first to-be-processed robot and a second to-be-processed robot corresponding to the first to-be-processed robot are determined, the scheduling identifier of the second to-be-processed robot is exchanged with the scheduling identifier of the second to-be-processed robot, and the scheduling identifier of the target robot after the exchange is reset is obtained.

In another optional embodiment, the resetting the scheduling identifier of the target robot according to the corresponding scheduling identifier of the robot to be processed includes: taking a scheduling identifier corresponding to the second robot to be processed as a target scheduling identifier; and resetting the scheduling identifier of the first robot to be processed according to the target scheduling identifier.

Illustratively, the scheduling identifier of the second robot to be processed is used as the target scheduling identifier, and the scheduling identifier of the first robot to be processed is reset as the target scheduling identifier, so as to reset the target robot scheduling identifier.

This optional embodiment directly adopts the mode that the target scheduling sign resets the scheduling sign of the first robot to be processed by taking the scheduling sign corresponding to the second robot to be processed as the target scheduling sign, can effectively avoid the condition that the robot scheduling is influenced by the fact that the scheduling signs of the reset target robot are the same.

The method and the device for resetting the dispatching mark of the target robot have the advantages that the robot to be processed is determined according to the robot information corresponding to the target robot, part of the dispatching mark of the target robot is reset according to the dispatching mark corresponding to the robot to be processed, the resetting of the dispatching mark of the target robot with the same mark in the dispatching process is realized, the mode of resetting the dispatching mark of the target robot is realized by determining the robot to be processed and according to the dispatching mark corresponding to the robot to be processed, and the resetting accuracy of the dispatching mark of the target robot is improved. The robot scheduling method has the advantages that the robot scheduling problem caused by limited size of a communication data packet in the target scene is solved by determining the target robots with the same identification in the target scene and selectively resetting the target robot scheduling identification according to the robot information corresponding to the target robots, the robot scheduling identification is dynamically adjusted under the condition that the capacity of the stored robot scheduling identification is limited, the robots can be normally scheduled, and the condition that the robots with the same scheduling identification have scheduling abnormity in the scheduling process is avoided.

It should be noted that, when at least two target robot groups exist in the target scene, the scheduling identifier of each target robot in the target robot group may be reset in the following manner.

In an alternative embodiment, the target robot groups are at least two groups; according to the robot information that the target robot corresponds, the scheduling sign of selective reset target robot includes: determining first position distances respectively corresponding to the target robot groups; taking at least one first position distance meeting a preset distance threshold judgment condition as a target position distance; determining target to-be-processed robot groups corresponding to the target position distances respectively; and sequentially resetting the scheduling identifier of each target robot in each target robot group to be processed according to the numerical value of the first position distance corresponding to each target robot group to be processed.

Wherein, the first position distance respectively corresponding to each target robot group may be a position distance between the target robots in each target robot group. The number of first position distances corresponding to the target robot group may be at least one, and is specifically related to the number of target robots in the target robot group. For example, if the target robot group includes the target robot a and the target robot B, the first position distance corresponding to the target robot group is the position distance AB between the target robot a and the target robot B. If the target robot group includes a target robot a, a target robot B, and a target robot C, the first position distance corresponding to the target robot group is a position distance AB between the target robot a and the target robot B, a position distance AC between the target robot a and the target robot C, and a position distance BC between the target robot B and the target robot C.

The distance threshold determination condition may be preset by a related technician, for example, the distance threshold determination condition may be that the first position distance is smaller than a preset distance threshold. Wherein the distance threshold may be preset by a skilled person, for example, the distance threshold may be 2 meters.

The target position distance may be a first position distance that satisfies a preset distance threshold determination condition among the first position distances. The target to-be-processed robot group may be a target robot group corresponding to the target position distance.

Illustratively, if a target robot group A, a target robot group B and a target robot group C exist in a target scene, and the target robot group A comprises a target robot A1 and a target robot A2 with the same identification; the target robot group B comprises a robot arm withTarget robots B1, B2 and B3 with the same identification; the target robot group C includes a target robot C1 and a target robot C2 having the same identification. The first position distance corresponding to the target robot group A is the position distance A between the target robot A1 and the target robot A2 ₁₂ (ii) a The first positional distance corresponding to the target robot group B includes the positional distance B between the target robot B1 and the target robot B2 ₁₂ And a positional distance B between the target robot B1 and the target robot B3 ₁₃ And a positional distance B between the target robot B2 and the target robot B3 ₂₃ (ii) a The first position distance corresponding to the target robot group C is the position distance C between the target robot C1 and the target robot C2 ₁₂ . If the first position distance satisfying the distance threshold judgment condition is the position distance A ₁₂ A position distance B ₂₃ And a position distance C ₁₂ Then it can be determined that the target position distances are the first position distances A respectively ₁₂ First position distance B ₂₃ And a first position distance C ₁₂ . Correspondingly, the target robot group to be processed comprises a target position distance A ₁₂ Corresponding target robot group A and target position distance B ₂₃ Corresponding target robot group B and target position distance C ₁₂ Corresponding target robot group C.

And resetting the dispatching identification of each target robot in each target robot group to be processed in sequence according to the numerical value of the first position distance corresponding to each target robot group to be processed. Specifically, the scheduling identifier of each target robot in each target robot group to be processed may be sequentially reset according to the order of the numerical values of the first position distances from low to high.

Continuing with the previous example, the first positional distance A corresponding to the target robot group A in the target robot group to be processed ₁₂ The numerical value is 2 m, and the first position distance B corresponding to the target robot group B ₂₃ The numerical value is 1.8 m, and the first position distance C corresponding to the target robot group C ₁₂ If the numerical value is 1.85 m, the resetting sequence of the scheduling identifier of each target robot in each target robot group to be processed is as follows: first, the target robot group B is processedNext, the target robot group C is processed, and finally the target robot group a is processed.

This optional embodiment scheme is through the numerical value size of the first position distance that corresponds respectively according to each target pending robot group, the mode of resetting the dispatch sign of each target robot in each target pending target robot group in proper order, when having realized that there are two at least target robot groups under the target scene, to the definite of the processing order of target robot group, avoided simultaneously to two at least target robot groups in, the dispatch sign of each target robot resets and handles the circumstances of the reset conflict that causes and take place. The resetting efficiency of the target robot scheduling identification in each target robot group is improved, and meanwhile the resetting accuracy of the scheduling identification is improved.

In one embodiment, a schematic view of a robot scheduling identifier reset scenario is shown in fig. 2B. In this target scenario, there are 7 robots, robot a, robot B, robot C, robot D, robot E, robot F, and robot G, respectively. And the scheduling is realized among the robots based on the Lora near field communication technology, and the scheduling identifier uses 2-bit binary data, so that 4 scheduling identifiers exist in the target scene, namely a scheduling identifier 0, a scheduling identifier 1, a scheduling identifier 2 and a scheduling identifier 3. The scheduling identifier 0 corresponding to the robot a, the scheduling identifier 1 corresponding to the robot B, the scheduling identifier 2 corresponding to the robot C, the scheduling identifier 1 corresponding to the robot D, the scheduling identifier 1 corresponding to the robot E, the scheduling identifier 3 corresponding to the robot F, and the scheduling identifier 2 corresponding to the robot G are included.

It can be determined that there are two target robot groups in the target scene, which are the target robot Group1 and the target robot Group2. The target robot Group1 includes a target robot B, a target robot D, and a target robot E. The target robot Group2 includes a target robot C and a target robot G.

Wherein, the first position distance corresponding to the target robot Group1 includes a position distance BD between the target robot B and the target robot D, a position distance BE between the target robot B and the target robot E, and a position distance DE between the target robot D and the target robot E. The first position corresponding to the target robot Group2 is distant from the position between the target robot C and the target robot G by the distance CG.

The target robot Group1 meeting the preset distance threshold judgment condition is a position distance BD and a position distance DE, the target robot Group2 meeting the preset distance threshold judgment condition is a position distance CG, and the target robot Group1 and the target robot Group2 can be determined to be target to-be-processed robot groups. If the numerical value relationship among the first position distance BD, the first position distance DE and the first position distance CG is that the first position distance DE is minimum, then the first position distance CG is obtained, and the numerical value is maximum, then the first position distance BD is obtained, the processing sequence of the target robot to be processed is that the target robot Group1 is processed first, and then the target robot Group2 is processed.

Aiming at a target robot Group1, according to a target robot B, posture information corresponding to the target robot D and the target robot E respectively can be known, the posture directions between the target robot D and the target robot E are relative and in the same road section, so that the triggering and scheduling probability between the finally determined target robot D and the target robot E is higher than a set threshold value, the posture directions between the target robot B and the target robot D are not relative and not in the same road section, and the triggering and scheduling probability between the finally determined target robot B and the target robot D is not higher than the set threshold value. Therefore, the target robot D and the target robot E that satisfy both the distance threshold condition and the trigger scheduling probability condition. One target robot is selected from either the target robot D or the target robot E as a first robot to be processed. For example, the first robot to be processed may be the target robot D. Determining a second position distance DA between the target robot D and the robot A and a relative attitude relationship between the target robot D and the robot A if the other robots in the target scene comprise the robot A and the robot G; a second positional distance DG between the target robot D and the robot G, and a relative attitude relationship between the target robot D and the robot G are determined. As can be seen in FIG. 2B, the second location distance DA is less than the second location distance DG; the relative attitude relationship between the target robot D and the robot A is that the target robot D travels along the same direction on different road sections based on the same attitude direction; the relative attitude relationship between the target robot D and the robot G is that the robot runs along the opposite direction on different road sections based on the opposite attitude direction; therefore, the robot G can be regarded as the second robot to be processed according to the second positional distance and the relative posture relationship.

Aiming at the target robot Group2, the gesture information corresponding to the target robot C and the target robot G respectively can be known, the gesture directions between the target robot C and the target robot G are the same, and the robot runs in different road sections, so that the triggering scheduling probability between the target robot C and the target robot G is finally determined to be not higher than the set threshold value, and therefore, the target robot C or the target robot G does not need to be subjected to scheduling identifier resetting.

EXAMPLE III

Fig. 3 is a flowchart of a robot scheduling identifier resetting method according to a third embodiment of the present invention, and the third embodiment of the present invention performs optimization and improvement on the basis of the foregoing technical solutions.

Further, the step of obtaining the scheduling identifiers of at least two robots in the target scene is refined into a step of obtaining an identifier rearrangement request sent by the robots; responding to the identification rearrangement request, and determining a target scene to which the request initiating robot belongs; and acquiring the scheduling identifications of at least two robots in the target scene. The method is used for perfecting the acquisition mode of the scheduling identifications of at least two robots in the target scene.

As shown in fig. 3, the method comprises the following specific steps:

and S310, acquiring an identification rearrangement request sent by the robot.

The identifier rearrangement request can be a request for resetting the scheduling identifier of at least one robot in the scene. May be initiated by any robot in the scene. The initiation condition for identifying the rearrangement request may be preset by the related art.

In an alternative embodiment, the identification reordering request is initiated by the request initiating robot when the scheduling is triggered and the same as the scheduling identification of the scheduling robot.

Illustratively, when two robots in a scene trigger scheduling, the robot triggering the scheduling judges whether a scheduling identifier of the robot is the same as a scheduling identifier of another robot needing scheduling; if so, not executing scheduling and sending an identification rearrangement request to the cloud; if not, scheduling is executed. The condition for triggering scheduling may be, for example, that the distance between the two robots is less than a preset distance threshold, and the attitude direction is a relative direction of travel on the same road segment.

It should be noted that, in the two robots triggering the scheduling, any one of the robots or the two robots may send the identifier rearrangement request to the cloud, which is not limited in this embodiment. The robot sending the identification rearrangement request to the cloud initiates the robot for the request.

And S320, responding to the identification rearrangement request, and determining a target scene to which the request initiating robot belongs.

For example, at least one scene of an area managed by the cloud server and a scheduling identifier of a robot in the scene may be stored in the cloud server. When the cloud server obtains the identifier rearrangement request, the request initiating robot sending the request can be determined according to the identifier rearrangement request, and the target scene of the request initiating robot is determined from at least one stored scene.

S330, obtaining the dispatching identification of at least two robots in the target scene.

For example, after determining a target scene, the cloud server may obtain scheduling identifiers of at least two robots in the target scene.

Optionally, the identification rearrangement is performed only when the dispatching is triggered and the robot dispatching identifications are the same, so that the communication load of the timing task between the robot and the cloud end can be reduced.

Optionally, before the robot in a scene triggers scheduling, the cloud server may periodically determine whether the scheduling identifier of the robot in each scene needs to be reset. For example, the scheduling identifier may be set to reset the task, and the task loop processing may be continuously performed on at least one scenario managed by the cloud server. The scheme of the embodiment can avoid the problem that only the cloud server judges and resets the timing task, and the scheduling identifier is the same, so that scheduling abnormity caused by the fact that the time interval of the timing task is long is easily missed.

S340, determining a target robot group according to the scheduling identifier; the target robot group comprises at least two target robots with the same scheduling identification.

And S350, selectively resetting the dispatching identification of the target robot according to the robot information corresponding to the target robot, wherein the robot information comprises position information.

In an optional embodiment, the reset scheduling identifier is issued, so that the target robot executes scheduling according to the reset scheduling identifier. That is to say, in this embodiment, when the robot triggers the scheduling and the scheduling identifiers are the same, the scheduling identifier is reset first, and then the scheduling is executed, so as to avoid the occurrence of scheduling abnormalities such as the multiple robots all going to the scheduling point, and improve the reliability of the scheduling.

Optionally, the cloud may issue the scheduling identifier to be reset to each robot in the target scene, and each robot may determine whether the scheduling identifier is required to be reset. Optionally, the cloud may also accurately issue the scheduling identifier to a target robot that needs to be subjected to the resetting of the scheduling identifier, so that the target robot performs scheduling according to the reset scheduling identifier.

The embodiment of the invention realizes the improvement of the acquiring mode of the dispatching identifications of at least two robots in the target scene by responding to the identification rearrangement request sent by the robots, determining the target scene to which the request initiating robot belongs and acquiring the dispatching identifications of at least two robots in the target scene. The robot scheduling method has the advantages that the robot scheduling problem caused by limited size of a communication data packet in the target scene is solved by determining the target robots with the same identification in the target scene and selectively resetting the target robot scheduling identification according to the robot information corresponding to the target robots, the robot scheduling identification is dynamically adjusted under the condition that the capacity of the stored robot scheduling identification is limited, the robots can be normally scheduled, and the condition that the robots with the same scheduling identification have scheduling abnormity in the scheduling process is avoided.

Example four

Fig. 4 is a schematic structural diagram of a robot scheduling identifier resetting device according to a fourth embodiment of the present invention. The device for resetting the robot scheduling identifier according to the embodiments of the present invention is applicable to a situation where a robot is scheduled when the size of a communication data packet is limited under a narrow bandwidth of near field communication, and may be implemented in the form of hardware and/or software, as shown in fig. 4, where the device specifically includes: a scheduling identity acquisition module 401, a target robot group determination module 402 and a scheduling identity resetting module 403. Wherein,

a scheduling identifier obtaining module 401, configured to obtain scheduling identifiers of at least two robots in a target scene;

a target robot group determining module 402, configured to determine a target robot group according to the scheduling identifier; wherein the target robot group comprises at least two target robots with the same scheduling identification;

and a scheduling identifier resetting module 403 for selectively resetting the scheduling identifier of the target robot according to the robot information corresponding to the target robot, where the robot information includes position information.

Optionally, the scheduling identifier resetting module 403 includes:

the to-be-processed robot determining unit is used for determining the to-be-processed robot according to the robot information corresponding to the target robot;

and the first scheduling identifier resetting unit is used for resetting the scheduling identifier of the target robot according to the scheduling identifier corresponding to the robot to be processed.

Optionally, the to-be-processed robot determining unit includes:

a first distance determining subunit, configured to determine a first position distance between the target robots according to the position information corresponding to each of the target robots;

the first robot determining subunit is used for selecting at least one target robot as a first robot to be processed if the first position distance is smaller than a preset distance threshold;

a second distance determining subunit, configured to determine a second position distance between the first robot to be processed and another robot; wherein the other robots are robots of the at least two robots in the target scene except the target robot;

the second robot determining subunit is used for determining a second robot to be processed according to each second position distance;

and the to-be-processed robot determining subunit is used for taking the first to-be-processed robot and the second to-be-processed robot as the to-be-processed robots.

Optionally, the robot information further includes pose information, and the to-be-processed robot determining unit includes:

a third distance determining subunit, configured to determine, according to the position information corresponding to each of the target robots, a first position distance between the target robots;

a trigger scheduling probability determining subunit, configured to determine, according to the attitude information, a trigger scheduling probability of the target robot if the first position distance is smaller than a preset distance threshold;

the third robot determining subunit is used for selecting at least one target robot as a first robot to be processed if the triggering scheduling probability is higher than a set threshold;

the attitude relation determining subunit is used for determining a second position distance and a relative attitude relation between the first robot to be processed and other robots; wherein the other robots are robots of at least two robots in the target scene except the target robot;

the fourth robot determining subunit is used for determining a second robot to be processed according to the second position distances and the relative posture relationship;

Optionally, the second robot determining subunit is specifically configured to:

selecting a second position distance with a larger value as a target position distance;

and taking other robots corresponding to the target position distance as second robots to be processed.

Optionally, the scheduling identifier resetting unit includes:

the target scheduling identifier determining subunit is used for taking the scheduling identifier corresponding to the second robot to be processed as a target scheduling identifier;

and the scheduling identifier resetting subunit is used for resetting the scheduling identifier of the first robot to be processed according to the target scheduling identifier.

Optionally, the target robot groups are at least two groups; the scheduling identifier resetting module 403 includes:

the first position distance determining unit is used for determining the first position distance corresponding to each target robot group;

a target position distance determining unit configured to use at least one first position distance that satisfies a preset distance threshold determination condition as a target position distance;

the target robot group determining unit is used for determining a target robot group to be processed corresponding to each target position distance;

and the second scheduling identifier resetting unit is used for sequentially resetting the scheduling identifiers of the target robots in the target robot groups to be processed according to the numerical values of the first position distances respectively corresponding to the target robot groups to be processed.

Optionally, the scheduling identifier obtaining module 401 includes:

a rearrangement request acquisition unit, configured to acquire an identifier rearrangement request sent by a robot;

the target scene determining unit is used for responding to the identification rearrangement request and determining a target scene to which the request initiating robot belongs;

and the first scheduling identifier acquisition unit is used for acquiring the scheduling identifiers of at least two robots in the target scene.

Optionally, the identifier rearrangement request is initiated by the request initiating robot when the request initiating robot triggers scheduling and the identifier is the same as the scheduling identifier of the scheduling robot.

Optionally, the apparatus further comprises:

and the scheduling identifier issuing module is used for issuing the reset scheduling identifier so that the target robot executes scheduling according to the reset scheduling identifier.

Optionally, the scheduling identifier obtaining module 401 includes:

and the second scheduling identifier acquisition unit is used for acquiring the scheduling identifier of the corresponding robot from at least two robots in the current polled target scene.

The robot scheduling identifier resetting device provided by the embodiment of the invention can execute the robot scheduling identifier resetting method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

EXAMPLE five

FIG. 5 illustrates a schematic diagram of an electronic device 50 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 50 includes at least one processor 51, and a memory communicatively connected to the at least one processor 51, such as a Read Only Memory (ROM) 52, a Random Access Memory (RAM) 53, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 51 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 52 or the computer program loaded from a storage unit 58 into the Random Access Memory (RAM) 53. In the RAM 53, various programs and data necessary for the operation of the electronic apparatus 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input/output (I/O) interface 55 is also connected to bus 54.

A plurality of components in the electronic apparatus 50 are connected to the I/O interface 55, including: an input unit 56 such as a keyboard, a mouse, or the like; an output unit 57 such as various types of displays, speakers, and the like; a storage unit 58 such as a magnetic disk, an optical disk, or the like; and a communication unit 59 such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processors 51 include, but are not limited to, central Processing Units (CPUs), graphics Processing Units (GPUs), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processors, controllers, microcontrollers, and the like. The processor 51 performs the various methods and processes described above, such as the robot scheduling identity resetting method.

In some embodiments, the robot scheduling identity resetting method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 50 via the ROM 52 and/or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the robot scheduling identity resetting method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to perform the robot schedule identity reset method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot scheduling identifier resetting method, comprising:

acquiring scheduling identifications of at least two robots in a target scene;

determining a target robot group according to the scheduling identification; wherein the target robot group comprises at least two target robots with the same scheduling identification;

and selectively resetting the dispatching identification of the target robot according to the robot information corresponding to the target robot, wherein the robot information comprises position information.

2. The method according to claim 1, wherein the selectively resetting the scheduling id of the target robot according to the robot information corresponding to the target robot comprises:

determining a robot to be processed according to the robot information corresponding to the target robot;

and resetting the dispatching identification of the target robot according to the dispatching identification corresponding to the robot to be processed.

3. The method for resetting the robot scheduling identifier according to claim 2, wherein the determining the robot to be processed according to the robot information corresponding to the target robot comprises:

determining a first position distance between the target robots according to the position information corresponding to each target robot;

if the first position distance is smaller than a preset distance threshold value, selecting at least one target robot as a first robot to be processed;

determining a second position distance between the first robot to be processed and other robots; wherein the other robots are robots of at least two robots in the target scene except the target robot;

determining a second robot to be processed according to the second position distances;

and taking the first robot to be processed and the second robot to be processed as the robots to be processed.

4. The robot scheduling identity resetting method according to claim 2, wherein the robot information further includes attitude information, and the robot to be processed is determined according to the robot information corresponding to the target robot, including;

if the first position distance is smaller than a preset distance threshold value, determining the triggering and scheduling probability of the target robot according to the attitude information;

if the triggering scheduling probability is higher than a set threshold value, selecting at least one target robot as a first robot to be processed;

determining a second position distance and a relative attitude relationship between the first robot to be processed and other robots; wherein the other robots are robots of at least two robots in the target scene except the target robot;

determining a second robot to be processed according to the second position distances and the relative attitude relationship;

5. The method as claimed in claim 3, wherein the determining a second robot to be processed according to each of the second position distances comprises:

and taking the other robots corresponding to the target position distance as second robots to be processed.

6. A robot scheduling identity resetting method according to claim 3 or 4, wherein the resetting of the scheduling identity of the target robot according to the corresponding scheduling identity of the robot to be processed comprises:

taking a scheduling identifier corresponding to the second robot to be processed as a target scheduling identifier;

and resetting the dispatching identification of the first robot to be processed according to the target dispatching identification.

7. The robot scheduling identity resetting method of any one of claims 1 to 5 wherein the target robot groups are at least two groups;

the selectively resetting the scheduling identifier of the target robot according to the robot information corresponding to the target robot includes:

determining first position distances respectively corresponding to the target robot groups;

taking at least one first position distance meeting a preset distance threshold judgment condition as a target position distance;

determining target to-be-processed robot groups corresponding to the target position distances respectively;

and resetting the dispatching identification of each target robot in each target robot group to be processed in sequence according to the numerical value of the first position distance corresponding to each target robot group to be processed.

8. The method for resetting the scheduling identifier of the robot according to any one of claims 1 to 5, wherein the obtaining the scheduling identifiers of at least two robots in the target scene comprises:

acquiring an identifier rearrangement request sent by a robot;

responding to the identification rearrangement request, and determining a target scene to which the request initiating robot belongs;

and acquiring the dispatching identifications of at least two robots in the target scene.

9. The method of claim 8, wherein the identifier reordering request is initiated by the request initiating robot when the scheduling is triggered and the identifier is the same as the scheduling identifier of the scheduling robot.

10. The robot scheduling identifier resetting method of claim 9, further comprising:

and issuing the reset scheduling identifier to enable the target robot to execute scheduling according to the reset scheduling identifier.

11. The method for resetting the robot scheduling identifier according to any one of claims 1 to 5, wherein the obtaining the scheduling identifiers of at least two robots in the target scene comprises:

and obtaining the scheduling identification of the corresponding robot from at least two robots in the current polled target scene.

12. A robot scheduling identifier resetting device, comprising:

the scheduling identifier acquisition module is used for acquiring scheduling identifiers of at least two robots in a target scene;

the target robot group determining module is used for determining a target robot group according to the scheduling identifier; the target robot group comprises at least two target robots with the same scheduling identification;

and the scheduling identifier resetting module is used for selectively resetting the scheduling identifier of the target robot according to the robot information corresponding to the target robot, wherein the robot information comprises position information.

13. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the robot schedule identity resetting method of any of claims 1-11.

14. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for causing a processor to perform the robot scheduling identity resetting method of any of claims 1-11 when executed.