CN109087027A - Loop-type food delivery path dispatching method, device, background server and storage medium - Google Patents
Loop-type food delivery path dispatching method, device, background server and storage medium Download PDFInfo
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention relates to robotic technology fields, provide a kind of loop-type food delivery path dispatching method, device, background server and storage medium, which comprises determine first object food delivery point from around multiple food delivery points of target dining table according to preset rules；The first food delivery path from gatehead to first object food delivery point is searched out in the map of dining room, and the first food delivery path is sent to the first meal delivery robot, so that the first meal delivery robot is mobile to first object food delivery point according to the first food delivery path；The arrival information for responding the arrival first object food delivery point of the first meal delivery robot transmission, by the use state of the first object food delivery point of background server storage labeled as occupancy；Use state according to first object food delivery point is updated the current food delivery path of the second meal delivery robot.The present invention carries out loop-type path United Dispatching by the way that multiple food delivery points are arranged for each dining table, for multiple meal delivery robots, improves food delivery efficiency.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of loop-type food delivery path dispatching method, dress
It sets, background server and storage medium.
Background technique
In catering industry, the food and drink robot gradually risen has attracted the sight of many people, and many places have novel
Open a business in robot dining room.In order to improve food delivery efficiency, more meal delivery robots are often had in dining room and are worked at the same time, it is still, more
Platform meal delivery robot is easy to the problems such as stopping mutually after generation is met, and the prior art uses the distributed pipes of meal delivery robot
Reason, multiple each auto-navigations of meal delivery robot are irrelevant, are easy to appear when dining room space is smaller or food delivery task is busy
" loop deadlock " problem.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of loop-type food delivery path dispatching method, device, background server
And storage medium, by being loop-type path by food delivery path planning, and multiple food delivery points are set for each dining table, utilize
Background server is that multiple meal delivery robots carry out path United Dispatching, has both improved food delivery efficiency, is in turn avoided in dining room sky
Between smaller or food delivery task it is busy when " loop deadlock " problem of multiple meal delivery robots for occurring.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, being applied to background service the embodiment of the invention provides a kind of loop-type food delivery path dispatching method
End, background server are communicated to connect with the first meal delivery robot and the second meal delivery robot, and background server is previously stored with
Dining room map, dining room map is planned in advance has gatehead and multiple food delivery points around each dining table, background server to deposit in advance
Contain the use state of multiple food delivery points, which comprises according to preset rules from around pre-set target dining table
First object food delivery point is determined in multiple food delivery points；It is searched out in the map of dining room from gatehead to first object food delivery point
First food delivery path, and the first food delivery path is sent to the first meal delivery robot, so that the first meal delivery robot is according to first
Food delivery path is mobile to the first object food delivery point；Respond the arrival first object food delivery point of the first meal delivery robot transmission
Information is reached, by the use state of the first object food delivery point of background server storage labeled as occupancy；It is sent according to first object
The use state of meal is updated the current food delivery path of the second meal delivery robot.
Second aspect, the embodiment of the invention also provides a kind of loop-type food delivery path dispatching devices, are applied to backstage and take
Business end, background server are communicated to connect with the first meal delivery robot and the second meal delivery robot, and background server is stored in advance
There is dining room map, dining room map is planned in advance has gatehead and multiple food delivery points around each dining table, background server preparatory
It is stored with the use state of multiple food delivery points, described device includes determining module, search module, respond module and update module.
Wherein it is determined that module is used to determine first from around multiple food delivery points of pre-set target dining table according to preset rules
Target food delivery point；Search module is used to search out the first food delivery road from gatehead to first object food delivery point in the map of dining room
Diameter, and the first food delivery path is sent to the first meal delivery robot so that the first meal delivery robot according to the first food delivery path to
First object food delivery point is mobile；Respond module is used to respond arriving for the arrival first object food delivery point of the first meal delivery robot transmission
Up to information, by the use state of the first object food delivery point of background server storage labeled as occupancy；Update module is used for foundation
The use state of first object food delivery point is updated the current food delivery path of the second meal delivery robot.
The third aspect, the embodiment of the invention also provides a kind of background server, the background server include: one or
Multiple processors；Memory, for storing one or more programs, when one or more of programs are one or more of
When processor executes, so that one or more of processors realize above-mentioned loop-type food delivery path dispatching method.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program, the computer program realize above-mentioned loop-type food delivery path dispatching method when being executed by processor.
Compared with the prior art, a kind of loop-type food delivery path provided in an embodiment of the present invention dispatching method, device, backstage take
Business end and storage medium, background server are communicated to connect with the first meal delivery robot and the second meal delivery robot, background service
End is previously stored with dining room map, and dining room map is planned in advance gatehead and multiple food delivery points around each dining table, backstage
Server-side is previously stored with the use state of multiple food delivery points, firstly, user is preset by background server needs food delivery
Target dining table, background server according to preset rules from around target dining table multiple food delivery points in determine that first object gives
Meal；Then, the first food delivery path from gatehead to first object food delivery point is searched out in the map of dining room, and first is sent
Meal path is sent to the first meal delivery robot, so that the first meal delivery robot is according to the first food delivery path to first object food delivery point
It is mobile；Next, sent to background server after the first meal delivery robot reaches first object food delivery point and reach information, after
Platform server-side responds the use state for the first object food delivery point that the arrival information stores background server labeled as occupancy；Most
Afterwards, background server carries out the more current food delivery path of the second meal delivery robot according to the use state of first object food delivery point
Newly.Compared with prior art, the embodiment of the present invention by by food delivery path planning be loop-type path, and be each dining table
Multiple food delivery points are set, is that multiple meal delivery robots carry out path United Dispatching using background server, had both improved food delivery effect
Rate in turn avoids asking at " the loop deadlock " of multiple meal delivery robots that dining room space is smaller or when food delivery task is busy occurs
Topic.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, special embodiment below, and appended by cooperation
Attached drawing is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the schematic diagram of a scenario of loop-type food delivery provided in an embodiment of the present invention path dispatching method.
Fig. 2 shows the block diagrams of background server provided in an embodiment of the present invention.
Fig. 3 shows loop-type food delivery provided in an embodiment of the present invention path dispatching method flow chart.
Fig. 4 is the sub-step flow chart of the step S101 shown in Fig. 3.
Fig. 5 shows the dining room path schematic diagram of the citing in the embodiment of the present invention.
Fig. 6 is the sub-step flow chart of the step S104 shown in Fig. 3.
Fig. 7 shows the block diagram of loop-type food delivery provided in an embodiment of the present invention path dispatching device.
Icon: 100- background server；101- memory；102- storage control；103- processor；200- loop-type is sent
Meal path dispatching device；201- determining module；202- search module；203- respond module；The first update module of 204-；205- is returned
Return module；The second update module of 206-；The first meal delivery robot of 300-；The second meal delivery robot of 400-.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Fig. 1 is please referred to, Fig. 1 shows the scene signal of loop-type food delivery provided in an embodiment of the present invention path dispatching method
Figure.Background server 100 is communicated to connect with the first meal delivery robot 300 and multiple second meal delivery robots 400, background service
End 100 determines first object food delivery point according to pre-set target dining table and generates from gatehead to first object food delivery point
First food delivery path, which is sent to the first meal delivery robot 300 by background server 100, so that first send
Eating, robot 300 is mobile to the first object food delivery point according to the first food delivery path, and background server 100 responds the first food delivery
The arrival for reaching the first object food delivery point that robot 300 is sent is requested, by the use state mark of the first object food delivery point
It is denoted as occupancy, then according to the use state of the first object food delivery point to the current food delivery path of the second meal delivery robot 400
It is updated.
Referring to figure 2., Fig. 2 shows the block diagrams of background server 100 provided in an embodiment of the present invention.Backstage takes
Business end 100 may be, but not limited to, PC (personal computer, PC), server etc..Background server 100
Operating system may be, but not limited to, Windows system, linux system etc..The background server 100 includes loop-type
Food delivery path dispatching device 200, memory 101, storage control 102 and processor 103.
Memory 101, storage control 102 and each element of processor 103 are directly or indirectly electrically connected between each other,
To realize the transmission or interaction of data.For example, these elements can pass through one or more communication bus or signal wire between each other
It realizes and is electrically connected.Loop-type food delivery path dispatching device 200 includes that at least one can be with software or firmware (firmware)
Form is stored in memory 101 or is solidificated in the operating system (operating system, OS) of the background server 100
In software function module.Processor 103 is for executing the executable module stored in memory 101, such as loop-type food delivery
Software function module included by path dispatching device 200 and computer program etc..
Wherein, memory 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 101 is for storing program, and the processor 103 executes described program after receiving and executing instruction.
Processor 103 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor 103 can be with
It is general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP), speech processor and video processor etc.；Can also be digital signal processor, specific integrated circuit,
Field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be
Microprocessor or the processor 103 are also possible to any conventional processor etc..
First embodiment
Referring to figure 3., Fig. 3 shows loop-type food delivery provided in an embodiment of the present invention path dispatching method flow chart.Afterwards
Platform server-side 100 is previously stored with dining room map, and the dining room map is planned in advance has gatehead and around the more of each dining table
A food delivery point, the background server 100 are previously stored with the use state of multiple food delivery points, wherein in the embodiment of the present invention
In, gatehead is the place that the first meal delivery robot 300 loads meal, while being also the departure place of the first meal delivery robot 300
Point, gatehead, multiple food deliveries point is sequentially connected can form multiple loop paths,.Any two loop paths pass through tie point
Connection, i.e., the tie point simultaneously in this any two loop paths, can be by the tie point on this any two loop road
It is moved between diameter, according to the food delivery path that at least one tie point and at least one food delivery point connect into, the first meal delivery robot
300 and second meal delivery robot 400 can be moved to corresponding food delivery point and complete food delivery task.
It should be noted that loop paths are not necessarily circular ring shape path, as long as can form loop or can become
The path in circuit can be known as loop paths, for example, loop paths can be closed path and the closed road of any two
Diameter is connected by tie point, can be moved between the closed path of any two by the tie point, loop paths may be used also
To be not closed, and at least there are two paths from the same tie point and can reach the same food delivery in the loop paths
Point.
Loop-type food delivery path dispatching method the following steps are included:
Step S101 determines first from around multiple food delivery points of pre-set target dining table according to preset rules
Target food delivery point.
In embodiments of the present invention, target dining table is that user is pre-set by background server 100, background server
100 obtain the use state of multiple food delivery points of target dining table first, screen from multiple food delivery points that use state is idle
The shortest food delivery point in path of first meal delivery robot 300 is reached out as first object food delivery point, i.e. first object food delivery
Point is the use state free time and reaches the shortest food delivery point in 300 path of the first meal delivery robot.
In embodiments of the present invention, multiple food delivery points can be the first meal delivery robot 300 first object food delivery point or
Second target food delivery point of the second meal delivery robot of person 400, is also possible to the first meal delivery robot 300 and goes to first object food delivery
Point or the second meal delivery robot 400 go to the place of the second target food delivery point approach, and the same target dining table planning is multiple to be sent
Meal, allow service the target dining table meal delivery robot be it is multiple, improve the efficiency of food delivery.
Referring to figure 4., step S101's can also include following sub-step:
Sub-step S1011, obtains the use state of multiple food delivery points of target dining table, and by use state be it is idle extremely
A few food delivery point is determined as primary election food delivery point.
In embodiments of the present invention, the use state of food delivery point includes three kinds of predetermined, occupancy and free time, when making for food delivery point
It is pre- timing with state, represents that the food delivery point is already set as target food delivery point but the first meal delivery robot 300 or the second is sent
Meal robot 400 not yet reaches the target food delivery point, and when the use state of food delivery point is to occupy, there are the first feeders for representative
Device people 300 or the second meal delivery robot 400 are just being stopped in this food delivery point, when the use state of food delivery point is idle, are represented not
There are the first meal delivery robot 300 and there is no any one second meal delivery robots 400 to stop in this food delivery point, does not also have
It is arranged to target food delivery point, for example, background server 100 receives the arrival food delivery point A of the first meal delivery robot 300 transmission
Message when by the use state of food delivery point A labeled as occupying, the use state of the point of food delivery at this time A is to occupy, background service
When end 100 receives the leave group message for leaving food delivery point A of the first meal delivery robot 300 transmission, food delivery point A is used into shape
State is the free time labeled as free time, the use state of the point of food delivery at this time A.
It should be pointed out that the update mode of the use state of food delivery point can be but be not limited to real-time update, periodicity
It updates, event triggers update etc..
In embodiments of the present invention, use state is idle food delivery point in primary election food delivery point feeling the pulse with the finger-tip mark dining table, is just selected and recommended
Meal can be one, be also possible to it is multiple, selected and recommended originally meal be one when, primary election food delivery point is first object food delivery
Point, it is no longer necessary to execute sub-step S1012 and S1013, selected and recommended originally meal be it is multiple when, need to be implemented sub-step S1012 and
First object food delivery point is determined after S1013 from multiple primary election food delivery points.
Sub-step S1012 obtains the current location of the first meal delivery robot, and calculates the present bit of the first meal delivery robot
Set the path length between primary election food delivery point.
In embodiments of the present invention, the primary election food delivery point in sub-step S1012 is multiple, obtains the first meal delivery robot
300 current location, and calculate multiple roads between the current location of first meal delivery robot 300 and multiple primary election food delivery points
Electrical path length.
The shortest primary election food delivery point of path length is determined as first object food delivery point by sub-step S1013.
Step S102 searches out the first food delivery path from gatehead to first object food delivery point in the map of dining room, and
First food delivery path is sent to the first meal delivery robot, so that the first meal delivery robot is according to the first food delivery path to the first mesh
It is mobile to mark food delivery point.
In embodiments of the present invention, the first food delivery path may include a gatehead and first object food delivery point, can also
With include a gatehead, at least one food delivery point and first object food delivery point in addition to first object food delivery point, can be with
Including a gatehead, at least one food delivery point, at least one tie point and first object in addition to first object food delivery point
Food delivery point.It is the dining room path schematic diagram of the citing in the embodiment of the present invention for example, referring to Fig. 5, Fig. 5, has a loading in Fig. 5
Point, 6 dining tables are dining table 1, dining table 2, dining table 3, dining table 4, dining table 5, dining table 6 respectively, wherein dining table 1 includes A, B, C tri-
Food delivery point, dining table 2 include tri- food delivery points of E, F, G, and dining table 3 includes tri- food delivery points of H, I, J, and dining table 4 includes J, K, L tri- and send
Meal, dining table 5 include tri- food delivery points of M, N, O, and dining table 6 includes tri- food delivery points of O, P, Q, the ring type path of dining table 1 and dining table 2
Ring type path connected by tie point D, the ring type path of dining table 1 is connected with the ring type path of dining table 2 by tie point D, meal
The ring type path of table 1 is connected with the ring type path of dining table 3 by tie point C, the ring type path of dining table 2 and the ring type road of dining table 4
Diameter is connected by tie point F, and the ring type path of dining table 3 is connected with the ring type path of dining table 4 by tie point J, the ring type of dining table 3
Path is connected with the ring type path of dining table 5 by tie point I, and the ring type path of dining table 5 and the ring type path of dining table 6 pass through connection
Point O connection, the ring type path of dining table 4 are connected with the ring type path of dining table 6 by tie point K, and tie point can be with food delivery point weight
It closes, can not also be overlapped with food delivery point, in Fig. 5, C, D, F, I, J, K, O are tie point, are again simultaneously food delivery points, work as target
Dining table is dining table 1, and when target food delivery point is G, the first food delivery path is the path between gatehead and target food delivery point G, works as mesh
Mark dining table be dining table 1, target food delivery point be E when, the first food delivery path be gatehead, food delivery point G and target food delivery point be E successively
The path of connection, when target dining table is dining table 2, and target food delivery point is B, the first food delivery path is gatehead, food delivery point G, send
Meal E, tie point D and target food delivery point are the sequentially connected path B.
It should be noted that needs are encountered during the first meal delivery robot 300 is according to the first food delivery path more
When the case where new first food delivery path, the first meal delivery robot 300 is mobile to first object food delivery point according to the first food delivery path,
And first object food delivery point is eventually arrived at, needs are encountered during the first meal delivery robot 300 is according to the first food delivery path
When the case where updating the first food delivery path, the first meal delivery robot 300 is according to updated first food delivery path to first object
Food delivery point is mobile, and eventually arrives at first object food delivery point.
Step S103, the arrival message for the arrival first object food delivery point that the first meal delivery robot of response is sent, will backstage
The use state of the first object food delivery point of server-side storage is labeled as occupancy.
In embodiments of the present invention, when the first meal delivery robot 300 reaches first object food delivery according to the first food delivery path
It after point, is sent to background server 100 and reaches message, so that background server 100 responds the arrival message, first object is sent
The use state of meal is labeled as occupancy.
Step S104, according to first object food delivery point use state to the current food delivery path of the second meal delivery robot into
Row updates.
In embodiments of the present invention, the use state of first object food delivery point is labeled as after occupying in step S103, is
The occupied state influence mobile to the second meal delivery robot 400 is eliminated, needs to first determine whether that first object food delivery point is occupied
It is influenced with rear whether there is on the current food delivery path of the second meal delivery robot 400, if there is influence, then needs to plan again
Out from the current location of the second meal delivery robot 400 to the second food delivery path of the second target food delivery point, if there is no influence,
Just without planning again.
Fig. 6 is please referred to, step S104 can also include following sub-step:
Sub-step S1041 obtains the current food delivery path of the second meal delivery robot.
Sub-step S1042, when any one intermediate navigation spots is consistent with first object food delivery point in current food delivery path,
It generates from the current location of the second meal delivery robot to the second food delivery path of the second target food delivery point.
In embodiments of the present invention, the current food delivery path of the second meal delivery robot 400 includes a start navigation point, extremely
Few intermediate navigation spots and a second target food delivery point, 400 departure place of i.e. the second meal delivery robot of start navigation point, in
Between navigation spots can be at least one tie point, be also possible at least one food delivery point, can also be by approach sequence sequence
At least one tie point and at least one food delivery point, for example, referring to Fig. 5, by taking gatehead, dining table 1 and dining table 2 in Fig. 5 as an example,
Wherein, dining table 1 includes tri- food delivery points of A, B, C, and dining table 2 includes tri- food delivery points of E, F, G, the ring type path of dining table 1 and dining table 2
Ring type path connected by tie point D, when target dining table be dining table 1, target food delivery point be E when, the first food delivery path be dress
Loading point, food delivery point G and target food delivery point are the sequentially connected path E, wherein intermediate navigation spots are food delivery point G, when target dining table
For dining table 2, when target food delivery point is B, the first food delivery path is that gatehead, food delivery point G, food delivery point E, tie point D and target are sent
Meal is the sequentially connected path B, wherein intermediate navigation spots are food delivery point G, food delivery point E, tie point D, the second target food delivery point
It is the second destination to be reached of meal delivery robot 400.Second food delivery path is the present bit from the second meal delivery robot 400
Set to the second target food delivery point and not will receive the food delivery path of first object food delivery point influence.It is any in current food delivery path
One intermediate navigation spots is consistent with first object food delivery point to represent current food delivery path meeting approach first object food delivery point, still
Since the first object food delivery point is occupied, current food delivery path is influenced by the first object food delivery point, most
Cause the second meal delivery robot 400 that can not reach the second target food delivery point according to current food delivery path eventually, therefore, it needs to generate from the
The current location of two meal delivery robots 400 to the second food delivery path of the second target food delivery point.
Second food delivery path is sent to the second meal delivery robot by sub-step S1043, so that the second meal delivery robot foundation
Second food delivery path is updated the current food delivery path of the second meal delivery robot.
In embodiments of the present invention, the second meal delivery robot 400 can have one, can also have it is multiple, when the second food delivery
When robot 400 has multiple, need to execute step S104 and its sub-step S1041- to each second meal delivery robot 400
S1043。
In embodiments of the present invention, it after meal is sent to first object food delivery point by the first meal delivery robot 300, can also incite somebody to action
The service plate that dining on target dining table finishes is placed in the first meal delivery robot 300, in order to make the first meal delivery robot 300 will
Service plate is sent to preset location and is unloaded, and therefore, the embodiment of the present invention can also include step S105.
Step S105, response the first meal delivery robot send food delivery ending request, generate from first object food delivery point to
The return path of unloading point, and return path is sent to the first meal delivery robot, so that the first meal delivery robot is according to return
Path reaches unloading point.
In embodiments of the present invention, also planning has unloading point to dining room map in advance, and unloading point is the first meal delivery robot 300
The place for unloading service plate is sent when the first meal delivery robot 300 receives the instruction that food delivery terminates to background server 100
Food delivery ending request so that background server 100 generates return path from first object food delivery point to unloading point and should
Return path is sent to the first meal delivery robot 300, so that the first meal delivery robot 300 is complete according to return path arrival unloading point
Being unloaded at service plate for task.
After the first meal delivery robot 300 leaves first object food delivery point, background server 100 is needed to send first object
The use state of meal allows background server 100 to be that the second meal delivery robot 400 is cooked up reasonably labeled as the free time
Food delivery route, therefore, as an implementation, the firstth meal delivery robot 300 is unloaded according to described in return path arrival
The implementation method of loading point can also include:
When the first meal delivery robot 300 leaves first object food delivery point, leave group message is sent to background server 100,
So that the status indication of the first object food delivery point is the free time by background server 100.
In embodiments of the present invention, since the first meal delivery robot 300 and the second meal delivery robot 400 are according to preparatory planning
Food delivery path it is mobile when, there is a certain range of error in the food delivery path that the path actually moved can and be planned in advance, therefore, after
When platform server-side 100 is that multiple second meal delivery robots 400 plan the second food delivery path, in order to close the second food delivery path more
Reason will not only consider the influence of the use state of first object food delivery point to the current food delivery path of the second meal delivery robot 400,
The influence being also contemplated that between the current food delivery path of multiple second meal delivery robots 400 simultaneously, therefore, the embodiment of the present invention is also
It may include step S106.
Step S106, current location and the first food delivery machine according to the first meal delivery robot obtained according to predetermined period
The current path of the current location and the second meal delivery robot of the current path of people and the second meal delivery robot to first position and
First path and the second position and the second path are updated.
In embodiments of the present invention, first position and first path and the second position and the second path are after being stored in advance in
Platform server-side 100 and according to predetermined period, according to the first meal delivery robot 300 current location and the first meal delivery robot 300
Current path and the current location of the second meal delivery robot 400 and the current path of the second meal delivery robot 400 respectively to it
It is updated.Wherein, when the second meal delivery robot 400 has multiple, background server 100 can be saved and each second feeder
The corresponding second position of device people 400 and the second path, predetermined period is pre-set, for example, setting 10 for predetermined period
Second, i.e., every 10 seconds, the current location for the first meal delivery robot 300 that background server 100 can obtain and the first food delivery
The current road of the current location and the second meal delivery robot 400 of the current path of robot 300 and the second meal delivery robot 400
Diameter.Background server 100 is that the second meal delivery robot 400 planning second influenced by the use state of first object food delivery point is sent
When meal path, the first position and first path and each second meal delivery robot 400 that background server 100 stores can read
The second position and the second path, and according to the of the first position and first path and each the second meal delivery robot 400
Two positions and the second path are that the second meal delivery robot 400 planning second influenced by the use state of first object food delivery point is sent
Meal path.For example, there is first the second meal delivery robot of meal delivery robot 300 and 2 400 in dining room, one is No. 1 second feeder
Second meal delivery robot of device people 400 and No. 2 400, background server 100 are previously stored with the first of the first meal delivery robot 300
Position and first path, the second position of No. 1 second meal delivery robot 400 and the second path and No. 2 second meal delivery robots 400
The second position and the second path, predetermined period is 10 seconds, and every 10 seconds, background server 100 obtained the first feeder
The current location of device people 300 and current path are simultaneously updated according to the current location of first meal delivery robot 300 and current path
First position and first path, meanwhile, background server 100 obtains the current location of No. 1 second meal delivery robot 400 and current
Path simultaneously updates No. 1 second meal delivery robot 400 the according to the current location of No. 1 second meal delivery robot 400 and current path
Two positions and the second path, and background server 100 obtains the current location and current path of No. 2 second meal delivery robots 400
And No. 2 second meal delivery robot, 400 seconds are updated according to the current location of No. 2 second meal delivery robots 400 and current path
It sets and the second path, wherein No. 1 second meal delivery robot 400 is influenced by the use state of first object food delivery point, background service
It, can be according to first position and the first path for reading the first meal delivery robot 300 when the second food delivery path is planned for it in end 100
And the second food delivery road of No. 1 second meal delivery robot 400 in No. 2 second meal delivery robot, 400 second positions and the second path planning
Diameter, so that the second food delivery path cooked up does not interfere with No. 2 second meal delivery robot, 400 food deliveries.
In embodiments of the present invention, firstly, according to preset rules from multiple food deliveries around pre-set target dining table
Determine that first object food delivery point, the same dining table are arranged multiple food delivery points, can make 300 He of the first meal delivery robot in point
Second meal delivery robot 400 can provide room service simultaneously for the same dining table, especially numerous in the same dining table food delivery task
Efficiency of service can be greatly improved in busy.In addition, multiple food delivery points are also used as in different situations on food delivery path
Navigation spots, so that the first meal delivery robot 300 or 400 approach food delivery point of the second meal delivery robot reach respective purpose food delivery
Point, or it is back to unloading point from respective food delivery point, in limited dining room space, so that 300 He of the first meal delivery robot
Multiple second meal delivery robots 400 are independent of each other, mobile according to respective food delivery path, are making full use of the dining room confined space
Under the conditions of, it had not only contained more first meal delivery robots 300 and multiple second meal delivery robots 400 carries out room service, but also
It avoids the first meal delivery robot 300 and " loop deadlock " problem occurs in multiple second meal delivery robots 400, influence food delivery clothes
Business；Secondly, search out the first food delivery path from gatehead to first object food delivery point in the map of dining room, and by the first food delivery
Path is sent to the first meal delivery robot 300, so that the first meal delivery robot 300 is sent according to the first food delivery path to first object
Meal is mobile；Third, the arrival message for the arrival first object food delivery point that the first meal delivery robot 300 of response is sent, will backstage
The use state for the first object food delivery point that server-side 100 stores is labeled as occupancy；4th, according to making for first object food delivery point
It is updated with current food delivery path of the state to the second meal delivery robot 400；5th, response the first meal delivery robot 300 hair
The food delivery ending request sent, generates return path from first object food delivery point to unloading point, and return path is sent to the
One meal delivery robot 300, so that the first meal delivery robot 300 reaches unloading point according to return path；It saves and timely updates
The use state of 1 target food delivery point, allows background server 100 to judge to send to second according to the use state in time
The influence in the current food delivery path of meal robot 400, and be in time the second impacted meal delivery robot 400 according to the influence
Again it plans the second food delivery path, ensure that the use state of first object food delivery point to the current of the second meal delivery robot 400
Food delivery path effects reach minimum；Finally, according to according to predetermined period obtain the first meal delivery robot 300 current location and
The current location and the second meal delivery robot 400 of the current path of first meal delivery robot 300 and the second meal delivery robot 400
Current path is updated first position and first path and the second position and the second path, it is contemplated that the first meal delivery robot
300 and second meal delivery robot 400 it is mobile according to the food delivery path planned in advance when, the path actually moved can and planning in advance
Food delivery path have a certain range of error, in order to keep the second food delivery path cooked up more reasonable, background server 100 exists
When planning the second food delivery path, the first position read and first path and the second position and the second path are further accounted for, is made
It the second food delivery path that must be cooked up will not be on the second feeder in addition to being influenced by the use state of first object food delivery point
The current food delivery path of device people 400, by considering the current of the first meal delivery robot 300 and multiple second meal delivery robots 400
Food delivery path, and carry out United Dispatching to it, has both improved food delivery efficiency, in turn avoids dining room space is smaller or food delivery task
Occurs " loop deadlock " problem when busy.
Second embodiment
Fig. 7 is please referred to, Fig. 7 shows the box of loop-type food delivery provided in an embodiment of the present invention path dispatching device 200
Schematic diagram.Loop-type food delivery path dispatching device 200 is applied to background server 100 comprising determining module 201；Search for mould
Block 202；Respond module 203；First update module 204；Return module 205；Second update module 206.
Determining module 201, for true from around multiple food delivery points of pre-set target dining table according to preset rules
Make first object food delivery point.
In the embodiment of the present invention, determining module 201 can be used for executing step S101 and its sub-step S1011-S1013.
Search module 202, for searching out the first food delivery from gatehead to first object food delivery point in the map of dining room
Path, and the first food delivery path is sent to the first meal delivery robot, so that the first meal delivery robot is according to the first food delivery path
It is mobile to first object food delivery point.
In the embodiment of the present invention, search module 202 can be used for executing step S102.
Respond module 203, the arrival message of the arrival first object food delivery point for responding the transmission of the first meal delivery robot,
By the use state of the first object food delivery point of background server storage labeled as occupancy.
In the embodiment of the present invention, respond module 203 can be used for executing step S103.
First update module 204 works as the second meal delivery robot for the use state according to first object food delivery point
Preceding food delivery path is updated.
In the embodiment of the present invention, the first update module 204 can be used for executing step S104 and its sub-step S1041-
S1043。
Return module 205, for responding the food delivery ending request of the first meal delivery robot transmission, generation is sent from first object
Return path and is sent to the first meal delivery robot, so that the first meal delivery robot is pressed to the return path of unloading point by meal
Unloading point is reached according to return path.
In the embodiment of the present invention, return module 205 can be used for executing step S105.
In the embodiment of the present invention, return module 205 can be also used for leaving first object food delivery when the first meal delivery robot
Point when, send leave group message to background server so that background server by the status indication of first object food delivery point be free time.
Second update module 206, for according to according to predetermined period obtain the first meal delivery robot current location and
The current path of the current location and the second meal delivery robot of the current path of first meal delivery robot and the second meal delivery robot
First position and first path and the second position and the second path are updated
In the embodiment of the present invention, the second update module 206 can be used for executing step S106.
The embodiment of the present invention further discloses a kind of computer readable storage medium, is stored thereon with computer program, described
The loop-type food delivery path dispatching method that present invention discloses is realized when computer program is executed by processor 103.
In conclusion a kind of loop-type food delivery path provided by the invention dispatching method, device, background server and storage
Medium, loop-type food delivery path dispatching method are applied to background server, background server and the first meal delivery robot and second
Meal delivery robot communicates to connect, and background server is previously stored with dining room map, dining room map plan in advance have gatehead and
Around multiple food delivery points of each dining table, background server is previously stored with the use state of each food delivery point, the method packet
It includes: determining first object food delivery point from around multiple food delivery points of target dining table according to preset rules, wherein target dining table
It is that first meal delivery robot is pre-set；From gatehead to first object food delivery point is searched out in the map of dining room
One food delivery path, and the first food delivery path is sent to the first meal delivery robot, so that the first meal delivery robot is sent according to first
Meal path is mobile to first object food delivery point；Respond the arrival letter of the arrival first object food delivery point of the first meal delivery robot transmission
Breath, by the use state of the first object food delivery point of background server storage labeled as occupancy；According to first object food delivery point
Use state is updated the current food delivery path of the second meal delivery robot.Compared with prior art, the present invention will be by that will send
Meal path planning is loop-type path, and multiple food delivery points is arranged for each dining table, is multiple send using background server
Robot of eating carries out path United Dispatching, had both improved food delivery efficiency, and had in turn avoided smaller or food delivery task is numerous in dining room space
Multiple meal delivery robots that busy occurs " loop deadlock " problem.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. a kind of loop-type food delivery path dispatching method, which is characterized in that be applied to background server, the background server with
First meal delivery robot and the second meal delivery robot communicate to connect, and the background server is previously stored with dining room map, institute
It states dining room map and plans there is gatehead and multiple food delivery points around each dining table, the background server to be previously stored in advance
The use state of multiple food delivery points, which comprises
First object food delivery point is determined from around multiple food delivery points of pre-set target dining table according to preset rules；
The first food delivery path from the gatehead to the first object food delivery point is searched out in the dining room map, and will
First food delivery path is sent to first meal delivery robot, so that first meal delivery robot is sent according to described first
Meal path is mobile to the first object food delivery point；
The arrival message for responding the arrival first object food delivery point that first meal delivery robot is sent, the backstage is taken
The use state of the first object food delivery point of business end storage is labeled as occupancy；
Use state according to the first object food delivery point carries out the more current food delivery path of second meal delivery robot
Newly.
2. the method as described in claim 1, which is characterized in that described to eat according to preset rules from around pre-set target
The step of determining first object food delivery point in multiple food delivery points of table, comprising:
The use state of multiple food delivery points of target dining table is obtained, and is at least one idle food delivery point by the use state
It is determined as primary election food delivery point；
Obtain the current location of first meal delivery robot, and calculate the current location of first meal delivery robot with it is described
Path length between primary election food delivery point；
The shortest primary election food delivery point of the path length is determined as first object food delivery point.
3. the method as described in claim 1, which is characterized in that the current food delivery path of second meal delivery robot includes one
A start navigation point, at least one intermediate navigation spots and a second target food delivery point, it is described according to the first object food delivery
The step of use state of point is updated the current food delivery path of second meal delivery robot, comprising:
Obtain the current food delivery path of second meal delivery robot；
When any one intermediate navigation spots is consistent with the first object food delivery point in the current food delivery path, generate from institute
State current location to the second food delivery path of the second target food delivery point of the second meal delivery robot；
Second food delivery path is sent to second meal delivery robot, so that second meal delivery robot is according to described in
Second food delivery path is updated the current food delivery path of second meal delivery robot.
4. the method as described in claim 1, which is characterized in that also planning has unloading point, the side to the dining room map in advance
Method further include:
The food delivery ending request that first meal delivery robot is sent is responded, generation is unloaded from the first object food delivery point to described
The return path of loading point, and the return path is sent to first meal delivery robot, so that the first food delivery machine
People reaches the unloading point according to the return path.
5. method as claimed in claim 4, which is characterized in that first meal delivery robot is reached according to the return path
The step of unloading point, further includes:
When first meal delivery robot leaves the first object food delivery point, leave group message is sent to the background server
So that the status indication of the first object food delivery point is the free time by the background server.
6. the method as described in claim 1, which is characterized in that be labeled with the first meal delivery robot in advance on the dining room map
First position and the second meal delivery robot the second position, the background server is previously stored with the first meal delivery robot
Second path of first path and the second meal delivery robot, the method also includes:
According to according to predetermined period obtain first meal delivery robot current location and the first meal delivery robot it is current
The current path of the current location and the second meal delivery robot of path and the second meal delivery robot is to the first position and first
Path and the second position and the second path are updated.
7. a kind of loop-type food delivery path dispatching device, which is characterized in that be applied to background server, the background server with
First meal delivery robot and the second meal delivery robot communicate to connect, and the background server is previously stored with dining room map, institute
It states dining room map and plans there is gatehead and multiple food delivery points around each dining table, the background server to be previously stored in advance
The use state of multiple food delivery points, described device include:
Determining module, for determining first from around multiple food delivery points of pre-set target dining table according to preset rules
Target food delivery point；
Search module, for searching out first from the gatehead to the first object food delivery point in the dining room map
Food delivery path, and first food delivery path is sent to first meal delivery robot, so that first meal delivery robot
It is mobile to the first object food delivery point according to first food delivery path；
Respond module, the arrival for responding the arrival first object food delivery point that first meal delivery robot is sent disappear
Breath, the use state for the first object food delivery point that the background server is stored is labeled as occupancy；
Update module, for currently the sending to second meal delivery robot of the use state according to the first object food delivery point
Meal path is updated.
8. device as claimed in claim 7, which is characterized in that the determining module is specifically used for:
The use state of multiple food delivery points of target dining table is obtained, and is at least one idle food delivery point by the use state
It is determined as primary election food delivery point；
Obtain the current location of first meal delivery robot, and calculate the current location of first meal delivery robot with it is described
Path length between primary election food delivery point；
The shortest primary election food delivery point of the path length is determined as first object food delivery point.
9. a kind of background server, which is characterized in that the background server and the first meal delivery robot and the second food delivery machine
It communicates to connect per capita, the background server includes:
One or more processors；
Memory, for storing one or more programs, when one or more of programs are by one or more of processors
When execution, so that one or more of processors realize such as method of any of claims 1-6.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
Such as method of any of claims 1-6 is realized when processor executes.
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