CN113095717A - Robot scheduling method, device, equipment and storage medium - Google Patents
Robot scheduling method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a robot scheduling method, a robot scheduling device and a robot scheduling storage medium. The method comprises the following steps: acquiring task information to be distributed corresponding to tasks to be distributed and carrying state information of each robot; determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot; the method and the device for dispatching the storage box of the robot can dispatch the robot loaded with the corresponding storage box type to execute the task to be distributed according to the type of the distribution task, meet the requirements of different distribution tasks, improve the utilization rate of the robot and save the input cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of logistics, in particular to a robot scheduling method, a robot scheduling device and a storage medium.
Background
With the continuous development of computer technology towards intellectualization and the continuous expansion and deepening of the application field of robots, the robot technology is rapidly expanding from the industrial manufacturing field to the fields of medical service, entertainment education, family service and the like. The distribution requirements of the robot are more and more diverse, and the distribution requirements are more and more strict.
For example, special use environments such as food and medical use have severe requirements for sanitary conditions of a delivery robot, conditions for loading articles, and the like. In current logistics transportation system, the same type of robot often can't satisfy manifold delivery demand, leads to the robot utilization ratio not high.
Disclosure of Invention
The embodiment of the invention provides a robot scheduling method, a robot scheduling device and a robot scheduling storage medium, so that a robot which loads corresponding storage box types can be scheduled to execute tasks to be distributed according to the types of distribution tasks, the requirements of different distribution tasks are met, the utilization rate of the robot is improved, and the investment cost is saved.
In a first aspect, an embodiment of the present invention provides a robot scheduling method, including:
acquiring task information to be distributed corresponding to tasks to be distributed and carrying state information of each robot;
determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot;
and sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
Further, the mounting state information of the robot includes: the robot does not carry indication information of a distribution box, or indication information of the type of a storage cavity contained in the distribution box carried by the robot; the information of the tasks to be distributed comprises the types of the tasks to be distributed and the information of the departure places of the tasks to be distributed.
Further, determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot, includes:
inquiring a mapping table between the type of the task to be distributed and the type of the storage cavity contained in the distribution box according to the type of the task to be distributed, and determining a target distribution box, wherein the type of the storage cavity contained in the target distribution box is matched with the type of the task to be distributed;
determining a target robot from first robots meeting first preset conditions, wherein the first robots are robots carrying distribution boxes;
if the first robots do not meet the first preset condition, determining a target robot from second robots, wherein the second robots are robots not carrying distribution boxes;
if the robots are loaded with the distribution boxes and do not meet the first preset condition, determining the first robot meeting the second preset condition as a first schedulable robot; replacing a delivery box carried by the first schedulable robot with a target delivery box, and determining the first schedulable robot as a target robot;
the first preset condition is that the distribution box is a target distribution box; the second preset condition is that the time for the robot to reach the departure place of the task to be delivered is shortest, and the time for the robot to reach the departure place of the task to be delivered is determined based on the departure place information.
Further, the determining of the target robot from the first robots satisfying the first preset condition includes:
determining the first robot meeting the first preset condition as a second schedulable robot;
if the number of the first schedulable robots is one, determining the second schedulable robot as a target robot;
and if the number of the first schedulable robots is more than one, determining the second schedulable robot meeting the second preset condition as the target robot.
Further, determining the target robot from the second robot includes:
if the number of the second robots is one, determining the second robots as third schedulable robots;
if the number of the second robots is more than one, determining the second robots meeting a second preset condition as third schedulable robots;
and loading the third schedulable robot with a target delivery box, and determining the third schedulable robot as the target robot.
Further, before acquiring the information of the task to be delivered corresponding to the task to be delivered and the carrying state information of each robot, the method further includes:
and determining and storing the mapping relation between the type of the distribution task and the type of the storage cavity contained in the distribution box.
In a second aspect, an embodiment of the present invention further provides a robot scheduling apparatus, where the apparatus includes:
the acquisition module is used for acquiring task information to be distributed corresponding to the tasks to be distributed and carrying state information of each robot;
the determining module is used for determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot;
and the sending module is used for sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
In a third aspect, an embodiment of the present invention further provides a scheduling apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the robot scheduling method according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the robot scheduling method according to any one of the embodiments of the present invention.
The method comprises the steps of obtaining task information to be distributed corresponding to tasks to be distributed and carrying state information of each robot; determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot; and sending a scheduling instruction to the target robot so that the target robot executes the tasks to be distributed based on the scheduling instruction, solving the problems that the same type of robot cannot meet various distribution requirements and is low in utilization rate, realizing the purpose that the robot loading the corresponding storage box type is scheduled according to the type of the distribution task to execute the tasks to be distributed, meeting the requirements of different distribution tasks, improving the utilization rate of the robot and saving the input cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a robot scheduling method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a robot scheduling method according to a second embodiment of the present invention;
FIG. 2a is a flowchart of another robot scheduling method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot scheduling apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a scheduling apparatus in a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a robot scheduling method according to an embodiment of the present invention, where the embodiment is applicable to a situation of scheduling robots that can carry different types of delivery boxes, and the method can be executed by a robot scheduling apparatus according to an embodiment of the present invention, and the apparatus can be implemented in a software and/or hardware manner. The apparatus may be integrated on a scheduling device. The scheduling device may be considered as a device that implements robot scheduling.
In an embodiment of the invention, the robot may be matched to a plurality of types of distribution boxes, including: at least one type of storage chamber.
For example, the distribution box may include one box body or a plurality of box bodies, each box body is used as a storage cavity, and each box body can be used for containing the same type of articles or different types of articles. Or the distribution box can be divided into a plurality of areas, each area is used as a storage cavity, and the areas can be used for containing the same type of articles or different types of articles.
In one particular example, taking medical delivery as an example, each robot may be matched with multiple types of delivery boxes, which may include: a dispensing box consisting of at least one storage chamber for dispensing medical waste, a dispensing box consisting of at least one storage chamber for dispensing medicines and surgical instruments, a dispensing box consisting of at least one storage chamber for dispensing documents, a dispensing box consisting of at least one storage chamber for dispensing test tubes such as blood samples, a dispensing box consisting of at least one storage chamber for dispensing medicines or blood to be refrigerated, and a mixing and dispensing box consisting of different types of storage chambers. The mixing and dispensing box may include: the distribution box consists of one or more storage cavities of storage cavities for distributing medicines and surgical instruments, storage cavities for distributing files, storage cavities for distributing test tubes such as blood samples and the like, and storage cavities for distributing medicines or blood to be refrigerated. For example, it may be a dispensing box consisting of three storage chambers for dispensing test tubes such as blood samples; or may be a dispensing box consisting of two storage compartments for dispensing medicine and surgical instruments and one storage compartment for dispensing documents.
It should be noted that each dispensing box or storage compartment may be designed according to the type of article to be placed. For example, the blood sample test tube needs to keep steady in the distribution process, and consequently, the storing chamber or the distribution case of test tubes such as distribution blood sample can built-in protection architecture, avoids the blood sample test tube to rock and produces the hemolysis. The medicine or blood to be refrigerated has a requirement on the temperature of the distribution box in the distribution process, so that the storage cavity or the distribution box of the medicine or the blood to be refrigerated can have a refrigeration function.
Since in medical distribution, medicines, blood samples, surgical instruments, etc. require the distribution box to be in a sterile environment, and such items are generally sent to a site such as an operating room, laboratory, or ward, while medical waste is generally transported to a designated waste disposal site, the distribution box for distributing medical waste is generally used alone.
As shown in fig. 1, the method specifically includes the following steps:
and S110, acquiring information of tasks to be distributed corresponding to the tasks to be distributed and carrying state information of each robot.
The task to be delivered may be a delivery task that needs to be executed by the robot, and the task information to be delivered may be basic information included in the task to be delivered, and may include, for example, content of the task to be delivered, a type of the task to be delivered, departure location information and destination information of the task to be delivered. The loading state information of the robot may be indication information indicating whether the robot is loaded with the delivery box or not, or indication information indicating the type of the storage chamber included in the loading delivery box.
The manner of obtaining the task information to be distributed corresponding to the task to be distributed is not limited. Illustratively, medical personnel with authority initiate tasks to be delivered through terminal equipment, and configure task information to be delivered, the terminal equipment sends the task information to be delivered to background equipment, and the background equipment sends the received task information to be delivered to scheduling equipment. The scheduling device is a device that automatically schedules each robot according to a preset scheduling policy, and may be a console, for example.
The manner of acquiring the mounting state information of each robot is not limited, and the robot may determine the mounting state information by identifying whether to mount the delivery box through a sensor on the mounting delivery box. If the distribution box is carried, the type of the storage cavity contained in the distribution box is detected through the sensor, and indication information is formed. The method for acquiring the carrying state information of the robots by the dispatching equipment can be that after receiving the task information to be distributed, the dispatching equipment sends a state request instruction to each robot so as to acquire the carrying state information of each robot; the scheduling device may receive the mounting state information transmitted by each robot in real time.
And S120, determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot.
Wherein the target robot may be denoted as a robot for performing a task to be dispensed. A task is usually performed by only one robot, and therefore, the number of target robots is only one.
In a specific example, a target robot is determined from robots meeting a first preset condition, wherein the first preset condition is that the distribution box is a target distribution box, and the type of a storage cavity contained in the target distribution box is matched with the type of a task to be distributed; if the robots do not meet the first preset condition, determining schedulable robots from the robots meeting a second preset condition, wherein the second preset condition is that the time for the robots to reach the departure place of the tasks to be distributed is shortest, replacing distribution boxes carried by the schedulable robots with target distribution boxes, matching the types of storage cavities contained in the target distribution boxes with the types of the tasks to be distributed, and determining the schedulable robots as the target robots.
In a specific example, a robot carrying a delivery box is determined as a first robot, and a robot not carrying a delivery box is determined as a second robot; determining a target robot from first robots meeting a first preset condition, wherein the first preset condition is that the distribution box is a target distribution box, and the type of a storage cavity contained in the target distribution box is matched with the type of a task to be distributed; if the first robots do not meet the first preset condition, determining schedulable robots from the second robots, carrying target distribution boxes on the schedulable robots, matching the types of storage cavities contained in the target distribution boxes with the types of tasks to be distributed, and determining the schedulable robots as target robots; and if the robots are all provided with delivery boxes and do not meet the first preset condition, determining the dispatchable robots from the first robots meeting a second preset condition, wherein the second preset condition is that the time for the robots to reach the departure place of the tasks to be delivered is shortest, replacing the delivery boxes provided with the dispatchable robots with target delivery boxes, and determining the dispatchable robots as target robots.
S130, sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
The scheduling instruction can be regarded as an instruction of the scheduling robot, and the scheduling instruction can carry the identification code of the target robot and the information of the task to be allocated. The information of the tasks to be distributed can comprise the content of the tasks to be distributed, the types of the tasks to be distributed, and the departure place information and the destination information of the tasks to be distributed.
Illustratively, the scheduling device sends a scheduling instruction to the target robot according to an identification code of the target robot carried in the scheduling instruction, so that the target robot executes the task to be allocated based on the task information to be allocated carried in the scheduling instruction. And after receiving a scheduling instruction carrying the identification code of the target robot, the target robot matches the identification code of the target robot with the identification code of the target robot, and receives a scheduling task if the matching result is consistent.
According to the technical scheme of the embodiment, task information to be distributed corresponding to the tasks to be distributed and carrying state information of each robot are obtained; determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot; and sending a scheduling instruction to the target robot so that the target robot executes the task to be distributed based on the scheduling instruction, and the robot loaded with the corresponding storage box type can be scheduled to execute the task to be distributed according to the type of the distribution task, so that the requirements of different distribution tasks are met, the utilization rate of the robot is improved, and the investment cost is saved.
Example two
Fig. 2 is a flowchart of a robot scheduling method in a second embodiment of the present invention, which is optimized based on the second embodiment, in this embodiment, the carrying state information of the robot includes: the robot does not carry indication information of a distribution box, or indication information of the type of a storage cavity contained in the distribution box carried by the robot; the information of the tasks to be distributed comprises the types of the tasks to be distributed and the information of the departure places of the tasks to be distributed. Correspondingly, according to the information of the tasks to be distributed and the carrying state information of each robot, a target robot is determined, and the method comprises the following steps: inquiring a mapping table between the type of the task to be distributed and the type of the storage cavity contained in the distribution box according to the type of the task to be distributed, and determining a target distribution box, wherein the type of the storage cavity contained in the target distribution box is matched with the type of the task to be distributed; determining a target robot from first robots meeting first preset conditions, wherein the first robots are robots carrying distribution boxes, and the distribution boxes are target distribution boxes under the first preset conditions; if the first robots do not meet the first preset condition, determining a target robot from second robots, wherein the second robots are robots not carrying distribution boxes; if the robots are loaded with the distribution boxes and do not meet the first preset condition, determining the first robot meeting the second preset condition as a first schedulable robot; replacing a delivery box carried by the first schedulable robot with a target delivery box, and determining the first schedulable robot as a target robot; the second preset condition is that the time for the robot to reach the departure place of the task to be distributed is shortest, and the time for the robot to reach the departure place of the task to be distributed is determined based on the departure place information.
As shown in fig. 2, the method of this embodiment specifically includes the following steps:
s210, acquiring task information to be distributed corresponding to tasks to be distributed and carrying state information of each robot; the loading state information of the robot includes: the robot does not carry indication information of a distribution box, or indication information of the type of a storage cavity contained in the distribution box carried by the robot; the information of the tasks to be distributed comprises the types of the tasks to be distributed and the information of the departure places of the tasks to be distributed.
S220, inquiring a mapping table between the type of the task to be distributed and the type of the storage cavity contained in the distribution box according to the type of the task to be distributed, and determining a target distribution box, wherein the type of the storage cavity contained in the target distribution box is matched with the type of the task to be distributed.
The target distribution box can be a distribution box matched with the type of the task to be distributed.
In a specific example, the tasks to be distributed may include a type of task. For example, if the type of the task to be dispensed is a blood sample test tube, the target dispensing box may be a dispensing box formed by a storage cavity for dispensing the blood sample test tube, or the target dispensing box may be a dispensing box formed by a storage cavity for dispensing the blood sample test tube and a dispensing file storage cavity; alternatively, the target dispensing box may be a dispensing box including a storage chamber for dispensing a test tube such as a blood sample and a storage chamber for dispensing a medicine.
In one particular example, the tasks to be distributed may include multiple types of tasks. For example, if the type of the task to be dispensed is a document and a medicine, the target dispensing box may be a dispensing box consisting of a storage cavity for dispensing the document and a storage cavity for dispensing the medicine; or the target dispensing box can be a dispensing box consisting of a storage cavity for dispensing documents, a storage cavity for dispensing medicines and a storage cavity for dispensing blood sample test tubes.
Optionally, before acquiring the task information to be delivered corresponding to the task to be delivered and the carrying state information of each robot, the method further includes:
and determining and storing the mapping relation between the type of the distribution task and the type of the storage cavity contained in the distribution box.
The mapping relationship between the type of the distribution task and the type of the storage cavity contained in the distribution box can be one-to-one or one-to-many.
For example, a mapping relationship between the type of the delivery task and the types of the storage cavities included in the delivery boxes is determined, and the mapping relationship and all types of the delivery boxes are stored, so that after the background equipment receives the type of the task to be delivered and the types of the storage cavities included in the delivery boxes carried by the robots, the background equipment can inquire the mapping relationship to determine a target delivery box, judge whether the delivery box carried by the robots is the target delivery box, or replace the delivery box currently carried by the robots with the target delivery box, and further determine the target robots.
S230, a target robot is determined from the first robots satisfying the first preset condition, and S260 is performed. .
Wherein the first robot is a robot carrying a distribution box; the first preset condition is that the distribution box is a target distribution box, and the type of a storage cavity contained in the target distribution box is matched with the type of a task to be distributed.
Specifically, the type of the storage cavity included in the target distribution box is matched with the type of the task to be distributed, and the type of the at least one storage cavity included in the target distribution box may be the same as the type of the task to be distributed.
In a specific example, if the type of the task to be dispensed is a blood sample test tube, a robot including only a storage chamber for dispensing the blood sample test tube in the loaded dispensing box is preferentially selected as a dispatchable robot from among the first robots for loading the dispensing box, and a robot including a storage chamber for dispensing the blood sample test tube and other types of storage chambers in the loaded dispensing box may be selected as a dispatchable robot. If only one schedulable robot exists, determining the schedulable robot as a target robot; and if the number of the first schedulable robots is more than one, determining one robot from the schedulable robots as a target robot.
In another specific example, if the type of the task to be delivered is a file or a medicine, the preferentially selecting the loaded delivery box from the first robot loaded with the delivery box includes: the robot for distributing the storage cavity of the file and the storage cavity for distributing the medicine and the surgical tool is used as a dispatchable robot. If only one schedulable robot exists, determining the schedulable robot as a target robot; and if the number of the schedulable robots is more than one, selecting one robot from the schedulable robots as the target robot.
In the above specific example, the manner of determining one robot as a target robot from among the schedulable robots may be to select one robot from among the schedulable robots as the target robot, or to select the robot having the shortest time to reach the departure place of the task to be delivered as the target robot from among the schedulable robots. The time when the robot reaches the departure place of the task to be distributed is determined based on the departure place information of the task to be distributed and the current position information of the robot.
And S240, if all the first robots do not meet the first preset condition, determining a target robot from the second robots, and executing S260.
Wherein the second robot is a robot on which the delivery box is not mounted.
Specifically, if the first robots do not satisfy the first preset condition, it is indicated that no robot-mounted delivery box can be matched with the type of the task to be delivered, whether a robot without any delivery box is present or not is further considered, and if a robot without any delivery box is present, a target robot is determined from the robots, and the target robot is loaded on the target robot, so that the task to be delivered can be executed.
It should be noted that the robot does not unload the currently mounted delivery box after the robot has performed the task. However, due to the severe environmental hygiene requirements of medical delivery, the delivery boxes need to be sterilized periodically, or the delivery boxes mounted on the robot are unloaded due to post-maintenance or the like.
If the robot carrying the distribution box can not be matched with the type of the task to be distributed, the target robot is preferentially determined from the robots which do not carry the distribution box, the target distribution box can be directly loaded on the target robot to execute the task to be distributed, and the operations of unloading the distribution box from the robot and carrying the target distribution box are reduced.
S250, if the robots are all provided with the distribution boxes and do not meet the first preset condition, determining the first robot meeting the second preset condition as a first schedulable robot; and replacing the delivery box carried by the first schedulable robot with a target delivery box, determining the first schedulable robot as the target robot, and executing S260.
The second preset condition is that the time for the robot to reach the departure place of the task to be distributed is shortest, and the time for the robot to reach the departure place of the task to be distributed is determined based on the departure place information.
For example, the determining of the time when the robot reaches the departure point of the task to be delivered may be performed by determining a planned path according to the departure point information of the task to be delivered, current position information of the robot, and a system map of the delivery area, and determining the time when the robot reaches the departure point of the task to be delivered according to the planned path and speed information of the robot.
The first robot with the shortest time of arriving at the departure place of the task to be distributed is determined as the first schedulable robot, the distribution box carried by the first schedulable robot is replaced by the target distribution box matched with the task to be distributed, the first robot is determined as the target robot, and the distribution efficiency of the robot is improved while the distribution box carried by the robot is ensured to meet the distribution requirements of different task types.
And S260, sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
According to the technical scheme of the embodiment, task information to be distributed corresponding to the tasks to be distributed and carrying state information of each robot are obtained; determining a target robot from first robots meeting first preset conditions, wherein the first robots are robots carrying distribution boxes, the distribution boxes are target distribution boxes under the first preset conditions, and the types of storage cavities contained in the target distribution boxes are matched with the types of tasks to be distributed; if the first robots do not meet the first preset condition, determining a target robot from second robots, wherein the second robots are robots not carrying distribution boxes; if the robots are all provided with the distribution boxes and do not meet the first preset condition, determining a target robot from the first robot, and sending a scheduling instruction to the target robot so that the target robot can execute the tasks to be distributed based on the scheduling instruction, and the robots loaded with the corresponding storage box types can be scheduled to execute the tasks to be distributed, so that the robots meet the requirements of different distribution task types, the utilization rate of the robots is improved, and the investment cost is saved.
On the basis of the above embodiment, optionally, the determining the target robot from the first robots satisfying the first preset condition includes:
determining the first robot meeting the first preset condition as a second schedulable robot;
if the number of the second schedulable robots is one, determining the first schedulable robot as a target robot;
and if the number of the second schedulable robots is more than one, determining the second schedulable robot meeting the second preset condition as the target robot.
The second schedulable robot represents the first robot meeting the first preset condition, namely the distribution box carried by the second schedulable robot comprises the storage cavity corresponding to the type of the task to be distributed.
Specifically, if a plurality of second schedulable robots are provided, the time of each second schedulable robot reaching the departure place of the task to be distributed is determined, and the second schedulable robot reaching the departure place of the task to be distributed with the shortest time is determined as the target robot, so that the distribution efficiency of the robots is improved.
Optionally, determining the target robot from the second robot comprises:
if the number of the second robots is one, determining the second robots as third schedulable robots;
if the number of the second robots is more than one, determining the second robots meeting a second preset condition as third schedulable robots;
and loading the third schedulable robot with a target delivery box, and determining the third schedulable robot as the target robot.
Specifically, if a plurality of second robots are provided, the time of each second robot reaching the departure point of the task to be distributed is determined, and the second robot with the shortest time of reaching the departure point of the task to be distributed is determined as the third schedulable robot, so that the distribution efficiency of the robots is improved. And loading the second dispatching robot into a target distribution box, and determining the third dispatching robot as the target robot, so that the distribution box carried by the target robot can be matched with the type of the task to be distributed, and distribution requirements of different task types can be met.
As shown in fig. 2a, the specific steps of the embodiment of the present invention are: s1: the background equipment acquires the to-be-distributed tasks and the carrying state information of the robot.
S2: and determining a target distribution box according to the type of the task to be distributed.
S3: it is determined whether or not a robot carrying a target delivery box is present. If yes, go to S4. If not, S5 is executed.
S4: the first robot having the shortest departure time to the task to be delivered is determined from among the first robots carrying the target delivery box, and S8 is performed.
S5: whether a second robot is not equipped with a delivery box is judged. If yes, go to S6; if not, S7 is executed.
S6: it is determined whether the number of second robots not carrying the delivery box is 1. If yes, go to S8; if not, go to S61: determining the second robot having the shortest departure time to the task to be delivered, and S62: and replacing the carried delivery box with the target delivery box.
S7: it is determined whether the number of first robots that mount the delivery box and that the delivery box is not the target delivery box is 1. If yes, go to S8. If not, go to S71: determining the first robot having the shortest departure time to the task to be delivered, and S72: and replacing the carried delivery box with the target delivery box.
S8: a target robot is determined.
S9: and sending a scheduling instruction to the target robot so as to enable the target robot to execute the task to be distributed.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a robot scheduling device according to a third embodiment of the present invention. The present embodiment is applicable to the case of scheduling robots that can carry different types of delivery boxes, and the apparatus can be implemented in software and/or hardware, and the apparatus can be integrated into any device that provides the function of robot scheduling, as shown in fig. 3, and the apparatus for robot scheduling specifically includes: an acquisition module 310, a determination module 320, and a sending module 330.
The acquiring module 310 is configured to acquire task information to be delivered corresponding to a task to be delivered and carrying state information of each robot;
the determining module 320 is configured to determine a target robot according to the information of the task to be distributed and the carrying state information of each robot;
a sending module 330, configured to send a scheduling instruction to the target robot, so that the target robot executes the task to be distributed based on the scheduling instruction.
Optionally, the carrying state information of the robot includes: the robot does not carry indication information of a distribution box, or indication information of the type of a storage cavity contained in the distribution box carried by the robot; the information of the tasks to be distributed comprises the types of the tasks to be distributed and the information of the departure places of the tasks to be distributed.
Optionally, the determining module 320 includes:
the first determining unit is used for inquiring a mapping table between the type of the distribution task and the type of the storage cavity contained in the distribution box according to the type of the task to be distributed, and determining a target distribution box, wherein the type of the storage cavity contained in the target distribution box is matched with the type of the task to be distributed;
a second determination unit configured to determine a target robot from among first robots that satisfy a first preset condition, the first robots being robots that carry distribution boxes;
a third determining unit, configured to determine a target robot from second robots if the first robots do not satisfy the first preset condition, where the second robots are robots not equipped with a distribution box;
a fourth determining unit, configured to determine, as the first schedulable robot, the first robot that satisfies the second preset condition if each robot carries the delivery box and does not satisfy the first preset condition; replacing a delivery box carried by the first schedulable robot with a target delivery box, and determining the first schedulable robot as a target robot;
the first preset condition is that the distribution box is a target distribution box; the second preset condition is that the time for the robot to reach the departure place of the task to be delivered is shortest, and the time for the robot to reach the departure place of the task to be delivered is determined based on the departure place information.
Optionally, the first determining unit is specifically configured to:
determining the first robot meeting the first preset condition as a second schedulable robot;
if the number of the first schedulable robots is one, determining the second schedulable robot as a target robot;
and if the number of the first schedulable robots is more than one, determining the second schedulable robot meeting the second preset condition as the target robot.
Optionally, the second determining unit is specifically configured to:
if the number of the second robots is one, determining the second robots as third schedulable robots;
if the number of the second robots is more than one, determining the second robots meeting a second preset condition as third schedulable robots;
and loading the third schedulable robot with a target delivery box, and determining the third schedulable robot as the target robot.
Optionally, the method further includes:
and the storage module is used for determining and storing the mapping relation between the type of the distribution task and the type of the storage cavity contained in the distribution box before acquiring the information of the task to be distributed corresponding to the task to be distributed and the carrying state information of each robot.
The product can execute the robot scheduling method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a scheduling device in a fourth embodiment of the present invention. Fig. 4 shows a block diagram of an exemplary scheduling apparatus 12 suitable for use in implementing embodiments of the present invention. The scheduling device 12 shown in fig. 4 is only an example, and should not bring any limitation to the function and the scope of the application of the embodiment of the present invention.
As shown in fig. 4, the scheduling device 12 is in the form of a general purpose computing device. The components of the scheduling device 12 may include, but are not limited to: one or more processors or processors 16, a system memory 28, and a bus 18 that connects the various system components (including the system memory 28 and the processors 16).
The scheduling device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by scheduler 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The scheduling device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processor 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement the robot scheduling method provided by the embodiment of the present invention: acquiring task information to be distributed corresponding to tasks to be distributed and carrying state information of each robot; determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot; and sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
EXAMPLE five
An embodiment five of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the robot scheduling method provided in all the inventive embodiments of the present application: acquiring task information to be distributed corresponding to tasks to be distributed and carrying state information of each robot; determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot; and sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having 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 portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A robot scheduling method, wherein the robot is matched with a plurality of delivery boxes, the delivery boxes comprising: at least one type of storage chamber, the method comprising:
acquiring task information to be distributed corresponding to tasks to be distributed and carrying state information of each robot;
determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot;
and sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
2. The method of claim 1, wherein the piggyback status information of the robot comprises: the robot does not carry indication information of a distribution box, or indication information of the type of a storage cavity contained in the distribution box carried by the robot; the information of the tasks to be distributed comprises: the type of the task to be distributed and the information of the starting place of the task to be distributed.
3. The method of claim 2, wherein determining a target robot based on the information on the task to be distributed and the onboard state information of each of the robots comprises:
inquiring a mapping table between the type of the task to be distributed and the type of the storage cavity contained in the distribution box according to the type of the task to be distributed, and determining a target distribution box, wherein the type of the storage cavity contained in the target distribution box is matched with the type of the task to be distributed;
determining a target robot from first robots meeting first preset conditions, wherein the first robots are robots carrying distribution boxes, and the distribution boxes are target distribution boxes under the first preset conditions;
if the first robots do not meet the first preset condition, determining a target robot from second robots, wherein the second robots are robots not carrying distribution boxes;
if the robots are loaded with the distribution boxes and do not meet the first preset condition, determining the first robot meeting the second preset condition as a first schedulable robot; replacing a delivery box carried by the first schedulable robot with a target delivery box, and determining the first schedulable robot as a target robot;
the second preset condition is that the time for the robot to reach the departure place of the task to be distributed is shortest, and the time for the robot to reach the departure place of the task to be distributed is determined based on the departure place information.
4. The method of claim 3, wherein determining the target robot from the first robots satisfying the first preset condition comprises:
determining the first robot meeting the first preset condition as a second schedulable robot;
if the number of the first schedulable robots is one, determining the second schedulable robot as a target robot;
and if the number of the first schedulable robots is more than one, determining the second schedulable robot meeting the second preset condition as the target robot.
5. The method of claim 3, wherein determining the target robot from the second robot comprises:
if the number of the second robots is one, determining the second robots as third schedulable robots;
if the number of the second robots is more than one, determining the second robots meeting a second preset condition as third schedulable robots;
and loading the third schedulable robot with a target delivery box, and determining the third schedulable robot as the target robot.
6. The method according to claim 1, wherein before acquiring the information of the task to be delivered corresponding to the task to be delivered and the embarkation state information of each robot, the method further comprises:
and determining and storing the mapping relation between the type of the distribution task and the type of the storage cavity contained in the distribution box.
7. A robot scheduling apparatus, comprising:
the acquisition module is used for acquiring task information to be distributed corresponding to the tasks to be distributed and carrying state information of each robot;
the determining module is used for determining a target robot according to the information of the tasks to be distributed and the carrying state information of each robot;
and the sending module is used for sending a scheduling instruction to the target robot so that the target robot executes the task to be allocated based on the scheduling instruction.
8. The apparatus of claim 7, wherein the determining module comprises:
the first determining unit is used for inquiring a mapping table between the type of the distribution task and the type of the storage cavity contained in the distribution box according to the type of the task to be distributed, and determining a target distribution box, wherein the type of the storage cavity contained in the target distribution box is matched with the type of the task to be distributed;
a second determination unit configured to determine a target robot from among first robots that satisfy a first preset condition, the first robots being robots that carry distribution boxes;
a third determining unit, configured to determine a target robot from second robots if the first robots do not satisfy the first preset condition, where the second robots are robots not equipped with a distribution box;
a fourth determining unit, configured to determine, as the first schedulable robot, the first robot that satisfies the second preset condition if each robot carries the delivery box and does not satisfy the first preset condition; replacing a delivery box carried by the first schedulable robot with a target delivery box, and determining the first schedulable robot as a target robot;
the first preset condition is that the distribution box is a target distribution box; the second preset condition is that the time for the robot to reach the departure place of the task to be delivered is shortest, and the time for the robot to reach the departure place of the task to be delivered is determined based on the departure place information.
9. A scheduling apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the robot scheduling method according to any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the robot scheduling method according to any one of claims 1-6.
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