CN-122018562-A - Task interrupt processing method and related equipment for patrol robot

CN122018562ACN 122018562 ACN122018562 ACN 122018562ACN-122018562-A

Abstract

The application is applicable to the technical field of artificial intelligence, and provides a task interrupt processing method of a patrol robot, which comprises the steps of acquiring first task information of a first patrol robot for executing tasks originally after receiving a task interrupt signal of the first patrol robot, wherein the task interrupt signal comprises interrupt time and interrupt places; the method comprises the steps of determining a first generation value of an original execution task based on first task information, scheduling a second patrol robot to execute the original execution task based on interrupt time and interrupt places if the first generation value is larger than a preset first generation value threshold value, and scheduling the first patrol robot to continue to execute the original execution task if the first generation value is smaller than the preset first generation value threshold value. The application is continuously executed by the original robot for the interruption with smaller cost value, and is replaced by other robots for the interruption with larger cost value, thereby reducing the idle driving mileage and the electric energy consumption of the robots, prolonging the duration operation time of the robots and improving the task interruption disposal efficiency.

Inventors

DAI XIANG
Chen Yaowo
LENG PENGYU

Assignees

深圳云天励飞技术股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260407

Claims (10)

1. A task interrupt processing method for a patrol robot, the method comprising the steps of: After receiving a task interrupt signal of a first patrol robot, acquiring first task information of a task originally executed by the first patrol robot, wherein the task interrupt signal comprises interrupt time and interrupt places; Determining a first generation value of the originally executed task based on the first task information; If the first generation value is greater than a preset first generation value threshold, scheduling a second patrol robot to execute the original execution task based on the interrupt time and the interrupt place; And if the first generation value is smaller than a preset first generation value threshold, the first patrol robot is scheduled to continue to execute the original execution task.
2. The task interruption handling method of claim 1, wherein the determining the first generation value of the originally executed task based on the first task information comprises: acquiring the executed path length and the residual path length of the original execution task; The executed duration and the residual estimated duration of the original execution task are obtained; And calculating to obtain the first generation value according to a first ratio of the executed path length to the residual path length, a second ratio of the executed time length to the residual estimated time length and a preset priority weight of the original execution task at the interrupt place, wherein different places correspond to different priority weights in the task path of the original execution task.
3. The task interrupt processing method of a patrol robot according to claim 1, wherein the scheduling a second patrol robot to execute the originally executed task based on the interrupt time and the interrupt place includes: searching candidate patrol robots in a preset area range based on the interrupt location; screening patrol robots in an idle state from the candidate patrol robots as second patrol robots based on task states of the candidate patrol robots; If no idle patrol robots exist, screening patrol robots with second cost value smaller than the first cost value of interrupting the current execution task from the interruption time from the candidate patrol robots as second patrol robots; and scheduling the second patrol robot to execute the original execution task.
4. The task interruption handling method of patrol robots according to claim 1, wherein said screening out patrol robots among candidate patrol robots that interrupt a currently executed task from the interruption time to a second cost value smaller than the first cost value as second patrol robots includes: For each non-idle candidate patrol robot, acquiring second task information of a current execution task of the non-idle candidate patrol robot, and calculating a second cost value required by the non-idle candidate patrol robot if the current execution task is interrupted from the interrupt time; comparing the second cost value with the first cost value; And screening out the candidate patrol robots with the second cost value smaller than the first cost value and the largest difference as the second patrol robots.
5. The task interruption handling method of claim 1, wherein if the first generation value is less than a preset first generation value threshold, scheduling the first patrol robot to continue to execute the originally executed task comprises: If the first generation value is smaller than or equal to a preset first generation value threshold value and the first generation value is larger than a preset second cost value threshold value, the first patrol robot is scheduled to start to continuously execute the original execution task by taking the interrupt place as a starting point; If the first cost value is smaller than or equal to a preset second cost value threshold, predicting a continuing place in a path of an original execution task, and scheduling the first patrol robot to start to execute the original execution task by taking the continuing place as a starting point, wherein the second cost value threshold is smaller than the first cost value threshold.
6. The task interruption handling method of claim 5, wherein predicting a splice point in a path of an originally executed task includes: acquiring priority weights of non-executed path points in the path of the original execution task; And selecting the unexecuted path point with the highest priority as the continuing place.
7. The task interruption handling method of patrol robot according to any one of claims 1 to 6, wherein before said determining a first generation value of said originally executed task based on said first task information, said method further comprises: Acquiring an interrupt reason indicated by the task interrupt signal; when the interrupt source is that the first patrol robot is abnormal, the second patrol robot is directly scheduled to start from the interrupt place, the original execution task is executed in succession, and the first patrol robot is controlled to exit the task.
8. A task interruption processing device of a patrol robot, characterized in that the task interruption processing device of a patrol robot comprises: the first acquisition module is used for acquiring first task information of a task originally executed by the first patrol robot after receiving a task interrupt signal of the first patrol robot, wherein the task interrupt signal comprises interrupt time and interrupt places; the processing module is used for determining a first generation value of the original execution task based on the first task information; The first scheduling module is used for scheduling a second patrol robot to execute the original execution task based on the interrupt time and the interrupt place if the first generation value is larger than a preset first generation value threshold; And the second scheduling module is used for scheduling the first patrol robot to continue to execute the original execution task if the first generation value is smaller than a preset first generation value threshold.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the task interruption handling method of a patrol robot according to any one of claims 1 to 7 when the computer program is executed.
10. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, which when executed by a processor, implements the steps in the task interruption processing method of the patrol robot according to any one of claims 1 to 7.

Description

Task interrupt processing method and related equipment for patrol robot Technical Field The application belongs to the technical field of artificial intelligence, and particularly relates to a task interrupt processing method and related equipment of a patrol robot. Background The patrol robot is widely applied to scenes such as parks, factories, communities, borders and the like and bears tasks such as safety inspection, environment monitoring, abnormal alarm and the like. In actual operation, patrol robots often face the situation of task interruption, for example, sudden emergency tasks (such as fire confirmation and intrusion alarm) have higher priority and need to respond immediately, or the robots themselves have the abnormality of insufficient electric quantity, hardware faults and the like, so that the current tasks cannot be continued. In the prior art, the robot turns to execute an urgent task after interrupting the current task, and the original task is marked as failed or suspended. After the emergency task is completed, the original task is needed to be planned or issued again by manpower, the intelligent degree is low, the response is lagged, the waste of time and energy sources is caused, and the task interruption disposal efficiency is low. Disclosure of Invention The embodiment of the application provides a task interrupt processing method of a patrol robot, which can solve the problems of low intelligent degree, delay response, time and energy waste and low task interrupt processing efficiency caused by the fact that an original task is required to be planned or issued again by manpower in the prior art. The application is continuously executed by the original robot for the interruption with smaller cost value, and is replaced by other robots for the interruption with larger cost value, so that the original robot does not need to additionally turn back, the idle driving mileage and the electric energy consumption of the robot are effectively reduced, the single-time endurance operation time of the robot is prolonged, and the task interruption disposal efficiency is improved. In a first aspect, an embodiment of the present application provides a task interrupt processing method for a patrol robot, where the method includes the following steps: After receiving a task interrupt signal of a first patrol robot, acquiring first task information of a task originally executed by the first patrol robot, wherein the task interrupt signal comprises interrupt time and interrupt places; Determining a first generation value of the originally executed task based on the first task information; If the first generation value is greater than a preset first generation value threshold, scheduling a second patrol robot to execute the original execution task based on the interrupt time and the interrupt place; And if the first generation value is smaller than a preset first generation value threshold, the first patrol robot is scheduled to continue to execute the original execution task. Optionally, the determining, based on the first task information, a first generation value of the originally performed task includes: acquiring the executed path length and the residual path length of the original execution task; The executed duration and the residual estimated duration of the original execution task are obtained; And calculating to obtain the first generation value according to a first ratio of the executed path length to the residual path length, a second ratio of the executed time length to the residual estimated time length and a preset priority weight of the original execution task at the interrupt place, wherein different places correspond to different priority weights in the task path of the original execution task. Optionally, the scheduling the second patrol robot to execute the originally executed task based on the interrupt time and the interrupt location includes: searching candidate patrol robots in a preset area range based on the interrupt location; screening patrol robots in an idle state from the candidate patrol robots as second patrol robots based on task states of the candidate patrol robots; If no idle patrol robots exist, screening patrol robots with second cost value smaller than the first cost value of interrupting the current execution task from the interruption time from the candidate patrol robots as second patrol robots; and scheduling the second patrol robot to execute the original execution task. Optionally, the screening, from among the candidate patrol robots, a patrol robot having a second cost value smaller than the first cost value, in which the current execution task is interrupted from the interruption time, as the second patrol robot includes: For each non-idle candidate patrol robot, acquiring second task information of a current execution task of the non-idle candidate patrol robot, and calculating a second cost value required by the non-idle candidate patrol robot if the