WO2020119674A1 - Scheduling method, scheduling apparatus, computer-readable storage medium and electronic device - Google Patents

Abstract

Disclosed are a scheduling method, a scheduling apparatus, a computer-readable storage medium and an electronic device. The method comprises: acquiring state information of at least one delivery robot in a delivery area, determining state information of at least one elevator in the delivery area, and thus scheduling the delivery robot according to the state information of the delivery robot and the state information of the elevator. Thus, the scheduling of a delivery robot can be completed in a better way, thereby improving the efficiency of a delivery process, and reducing the delivery cost of a delivery robot.

Description

调度方法、调度装置、计算机可读存储介质和电子设备Dispatching method, dispatching device, computer readable storage medium and electronic equipment

本申请要求了2018年12月14日提交的、申请号为2018115360385、发明名称为“调度方法、调度装置、计算机可读存储介质和电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed on December 14, 2018 with the application number 2018115360385 and the invention titled "Scheduling method, scheduling device, computer-readable storage medium and electronic equipment", the entire contents of which are cited by reference Incorporated in this application.

技术领域Technical field

本发明公开涉及数据处理领域，具体涉及一种调度方法、调度装置、计算机可读存储介质和电子设备。The disclosure of the present invention relates to the field of data processing, and in particular to a scheduling method, scheduling device, computer-readable storage medium, and electronic equipment.

背景技术Background technique

随着科技的不断发展，电商行业的订单配送方式也变得越来越多样化，例如基于无人机、配送机器人等的配送方式。通常，基于配送机器人的方式会在配送区域内设置有配送机器人，订单配送人员(也即，配送人员)只需要将订单放在配送机器人的存储仓内，在存储仓满后，配送机器人会立即开始配送；在存储仓有空余位置时，配送机器人会等待一段时间后开始配送。有时订单配送人员需要等待配送机器人配送完毕回到配送区域内的交付点时再将待配送的订单交付给配送机器人，因此可能需要等待较长时间，导致配送过程的效率较低，从而提升配送机器人的配送成本。With the continuous development of technology, the order delivery methods of the e-commerce industry have also become more and more diversified, such as delivery methods based on drones and delivery robots. Usually, a delivery robot is set in the delivery area based on the delivery robot. The order delivery personnel (ie, delivery personnel) only need to place the order in the delivery robot's storage warehouse. After the storage warehouse is full, the delivery robot will immediately Delivery begins; when there is a free position in the storage bin, the delivery robot will wait for a period of time to start delivery. Sometimes the order delivery personnel need to wait for the delivery robot to complete the delivery and return to the delivery point in the delivery area before delivering the order to be delivered to the delivery robot, so it may need to wait for a long time, resulting in a low efficiency of the delivery process, thereby improving the delivery robot Delivery costs.

发明内容Summary of the invention

有鉴于此,本发明实施例提供了一种调度方法、调度装置、计算机可读存储介质和电子设备，能够提升配送过程的效率，从而降低配送机器人的配送成本。In view of this, embodiments of the present invention provide a scheduling method, scheduling device, computer-readable storage medium, and electronic equipment, which can improve the efficiency of the distribution process, thereby reducing the distribution cost of the distribution robot.

第一方面，本发明实施例提供了一种调度方法，所述方法包括：In a first aspect, an embodiment of the present invention provides a scheduling method. The method includes:

获取配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单；Obtain the status information of the delivery robot. The status information includes information of the first order. At least one delivery robot for receiving a delivery target from a delivery point and delivering to a target address is provided in the delivery area. The first The category order is an order that has been delivered to the delivery robot in a waiting delivery state;

确定所述配送区域内的至少一个电梯的状态信息；Determine the status information of at least one elevator in the distribution area;

根据所述电梯的状态信息和所述配送机器人的状态信息对所述配送机器人进行调度。Dispatch the distribution robot according to the status information of the elevator and the distribution robot.

第二方面，本发明实施例提供了一种调度装置，所述装置包括：In a second aspect, an embodiment of the present invention provides a scheduling apparatus, the apparatus including:

第一获取单元，用于获取处于等待交付状态的配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单；The first acquiring unit is used to acquire the status information of the delivery robot in the waiting-for-delivery state, the status information includes information of the first order, and at least one for receiving the delivery target from the delivery point and delivering to the delivery area is provided in the delivery area For the delivery robot at the target address, the first type of order is an order that has been delivered to the delivery robot in a waiting delivery state;

第一确定单元，用于确定所述配送区域内的至少一个电梯的状态信息；A first determining unit, configured to determine the status information of at least one elevator in the distribution area;

第一调度单元，用于根据所述电梯的状态信息和所述配送机器人的状态信息对处于等待交付状态的所述配送机器人进行调度。The first dispatching unit is configured to dispatch the delivery robot in a waiting-for-delivery state based on the elevator state information and the delivery robot state information.

第三方面，本发明实施例提供了一种计算机可读存储介质，其上存储计算机程序指令，其中，所述计算机程序指令在被处理器执行时实现如第一方面中任一项所述的方法。In a third aspect, an embodiment of the present invention provides a computer-readable storage medium on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, are implemented as described in any one of the first aspects method.

第四方面，本发明实施例提供了一种电子设备，包括存储器和处理器，其中，所述存储器用于存储一条或多条计算机程序指令，其中，所述一条或多条计算机程序指令被所述处理器执行以实现如下步骤：According to a fourth aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are The processor executes to implement the following steps:

获取配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单；Obtain the status information of the delivery robot. The status information includes information of the first order. At least one delivery robot for receiving a delivery target from a delivery point and delivering to a target address is provided in the delivery area. The first The category order is an order that has been delivered to the delivery robot in a waiting delivery state;

确定所述配送区域内的至少一个电梯的状态信息；Determine the status information of at least one elevator in the distribution area;

根据所述电梯的状态信息和和所述配送机器人的状态信息对所述配送机器人进行调度。Dispatch the distribution robot according to the status information of the elevator and the status information of the distribution robot.

本发明实施例通过获取配送区域内至少一个配送机器人的状态信息，并确定所述配送区域内的至少一个电梯的状态信息，进而根据所述配送机器人的状态信息和所述电梯的状态信息对所述配送机器人进行调度。由此，能够以较优的方式完成配送机器人的调度，从而提升配送过程的效率，降低配送机器人的配送成本。In the embodiment of the present invention, the status information of at least one distribution robot in the distribution area is obtained, and the status information of at least one elevator in the distribution area is determined. The distribution robot performs scheduling. As a result, the scheduling of the delivery robot can be completed in an optimal manner, thereby improving the efficiency of the delivery process and reducing the delivery cost of the delivery robot.

附图说明BRIEF DESCRIPTION

通过以下参照附图对本发明实施例的描述，本发明的上述以及其它目的、特征和优点将更为清楚，在附图中：The above and other objects, features and advantages of the present invention will be more clear through the following description of the embodiments of the present invention with reference to the drawings, in the drawings:

图1是本发明实施例的***框架图；FIG. 1 is a system framework diagram of an embodiment of the present invention;

图2是本发明第一实施例的调度方法的流程图；2 is a flowchart of the scheduling method according to the first embodiment of the present invention;

图3是本发明第二实施例的调度方法的流程图；3 is a flowchart of a scheduling method according to a second embodiment of the invention;

图4是本发明第二实施例的应用场景图；4 is a diagram of an application scenario of a second embodiment of the present invention;

图5是本发明第三实施例的调度方法的流程图；5 is a flowchart of a scheduling method according to a third embodiment of the invention;

图6是本发明第二实施例的配送机器人所在楼的示意图；6 is a schematic diagram of a building where a distribution robot according to a second embodiment of the present invention is located;

图7为本发明第三实施例的电梯调度方式的示意图；7 is a schematic diagram of an elevator dispatching method according to a third embodiment of the present invention;

图8是本发明第三实施例的应用场景图；8 is a diagram of an application scenario of a third embodiment of the present invention;

图9是本发明第四实施例调度装置的示意图；9 is a schematic diagram of a scheduling apparatus according to a fourth embodiment of the present invention;

图10是本发明第五实施例的电子设备的示意图。10 is a schematic diagram of an electronic device according to a fifth embodiment of the invention.

具体实施方式detailed description

以下基于实施例对本发明公开进行描述，但是本发明公开并不仅仅限于这些实施例。在下文对本发明公开的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本发明公开。为了避免混淆本发明公开的实质，公知的方法、过程、流程、元件和电路并没有详细叙述。The present disclosure is described below based on examples, but the disclosure is not limited to these examples. In the following detailed description of the disclosure of the present invention, some specific details are described in detail. Those skilled in the art without a description of these details can fully understand the present disclosure. In order to avoid confusing the essence of the present disclosure, well-known methods, processes, procedures, components and circuits have not been described in detail.

此外，本领域普通技术人员应当理解，在此提供的附图都是为了说明的目的，并且附图不一定是按比例绘制的。In addition, those of ordinary skill in the art should understand that the drawings provided herein are for illustrative purposes, and the drawings are not necessarily drawn to scale.

除非上下文明确要求，否则整个说明书和权利要求书中的“包括”、“包含”等类似词语应当解释为包含的含义而不是排他或穷举的含义；也就是说，是“包括但不限于”的含义。Unless the context clearly requires it, the words "including", "including" and the like in the entire specification and claims should be interpreted as the meaning of inclusive rather than exclusive or exhaustive meaning; that is, "including but not limited to" Meaning.

在本发明公开的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。此外，在本发明公开的描述中，除非另有说明，“多个”的含义是两个或两个以上。In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise stated, the meaning of "plurality" is two or more.

通常，基于配送机器人的方式会在配送区域内(例如，小区或楼宇)设置有配送机器人，订单配送人员只需要将订单放在配送机器人的存储仓内，在存储仓满后，配送机器人会立即开始配送；在存储仓有空余位置时，配送机器人会等待一段时间后开始配送。有时会发生所有配送机器人全部开始配送后不久配送人员到达交付点的情况，此时配送人员需要等待至少一个配送机器人返回配送区域内的交付点时再将待配送的订单交付给配送机器人，因此可能需要在交付点等待较长时间，同时配送机器人可能需要花费较长的时间等待电梯的到来，由此会造成不必要的时间浪费，从而对配送过程的效率产生影响。Usually, a delivery robot is set in the delivery area (for example, a community or a building) based on the delivery robot. The order delivery personnel only need to place the order in the delivery robot's storage warehouse. After the storage warehouse is full, the delivery robot will immediately Delivery begins; when there is a free position in the storage bin, the delivery robot will wait for a period of time to start delivery. Sometimes it may happen that all the delivery robots start to deliver the delivery personnel shortly after delivery, at this time the delivery personnel need to wait for at least one delivery robot to return to the delivery point in the delivery area before delivering the order to be delivered to the delivery robot, so it may be Need to wait for a long time at the delivery point, while the distribution robot may need to spend a long time waiting for the arrival of the elevator, which will cause unnecessary waste of time and thus affect the efficiency of the distribution process.

在以下实施例中，以配送区域为楼宇为例进行说明。但是本领域技术人员容易理解，本实施例的调度方法同样适用于其他配送区域，例如小区等。In the following embodiments, the distribution area is a building as an example. However, those skilled in the art can easily understand that the scheduling method of this embodiment is also applicable to other distribution areas, such as cells.

在以下实施例中，订单为与订单相关的数据，配送标的为订单的实物。In the following embodiments, the order is data related to the order, and the delivery subject is the physical object of the order.

图1是本发明实施例的***框架图。如图1所示，所述***架构包括配送机器人11、服务器12和终端13。配送机器人11、服务器12和终端13均通过网络进行通信连接。服务器12用于根据调度客户地址在配送区域内的第一类订单对配送机器人11进行调度，并可以向配送机器人11发送订单指派消息。在订单指派消息发送成功后，服务器还可以向终端13发送标识通知，告知持有终端13的配送人员各第一类订单对应的配送机器人11的标识。配送机器人11在接收到订单指派消息后，在配送区 域内的交付点等待与终端13进行绑定的第一类订单标识的识别，并获取配送人员交付的配送标的，从而开始对订单进行配送。优选地，所述***架构还包括电梯14，服务器12根据处于配送状态的配送机器人11的状态信息和电梯14的状态信息对电梯14进行调度，由此，配送机器人11能够根据服务器12的电梯调度指令进行乘梯。FIG. 1 is a system framework diagram of an embodiment of the present invention. As shown in FIG. 1, the system architecture includes a distribution robot 11, a server 12 and a terminal 13. The delivery robot 11, the server 12, and the terminal 13 are all connected via a network. The server 12 is used to schedule the delivery robot 11 according to the first order of the dispatched customer address in the delivery area, and may send an order assignment message to the delivery robot 11. After the order assignment message is successfully sent, the server may also send an identification notification to the terminal 13 to inform the delivery personnel holding the terminal 13 of the identification of the delivery robot 11 corresponding to each first order. After receiving the order assignment message, the delivery robot 11 waits for the identification of the first type of order identifier bound to the terminal 13 at the delivery point in the delivery area, and obtains the delivery target delivered by the delivery personnel, thereby starting delivery of the order. Preferably, the system architecture further includes an elevator 14, and the server 12 dispatches the elevator 14 according to the status information of the delivery robot 11 in the delivery state and the status information of the elevator 14, whereby the delivery robot 11 can dispatch according to the elevator of the server 12 Instruction to ride.

图2是本发明第一实施例的调度方法的流程图。如图2所示，本实施例的方法包括如下步骤：2 is a flowchart of the scheduling method according to the first embodiment of the present invention. As shown in FIG. 2, the method of this embodiment includes the following steps:

步骤S100，获取处于等待交付状态的配送机器人的状态信息。Step S100: Obtain the status information of the delivery robot in the waiting-for-delivery state.

在本实施例中，配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的配送机器人。具体地，配送机器人的状态信息包括第一类订单的信息。其中，第一类订单为已交付给处于等待交付状态的配送机器人的订单。更具体地，第一类订单的信息可以包括第一类订单的目标地址，还可以包括其他信息。In this embodiment, at least one delivery robot for receiving a delivery target from a delivery point and delivering to a target address is provided in the delivery area. Specifically, the status information of the delivery robot includes the information of the first order. Among them, the first order is the order that has been delivered to the delivery robot in the state of waiting for delivery. More specifically, the information of the first order may include the target address of the first order, and may also include other information.

可选地，配送机器人可以获取自身的状态信息，并上报至服务器，由此，服务器可以获取配送机器人的状态信息。Optionally, the distribution robot can obtain its own status information and report it to the server, whereby the server can obtain the status information of the distribution robot.

步骤S200，确定配送区域内的至少一个电梯的状态信息。Step S200: Determine the status information of at least one elevator in the delivery area.

在本实施例中，电梯的状态信息可以为电梯当前位置和电梯的运行方向。电梯的状态信息不限于上述两种信息，还可以为通过加速度计获取的电梯的加速度等。In this embodiment, the status information of the elevator may be the current position of the elevator and the running direction of the elevator. The state information of the elevator is not limited to the above two kinds of information, but may also be the acceleration of the elevator obtained through an accelerometer and the like.

应理解，步骤S100和步骤S200可以同时执行，也可以先后执行，不必区分执行顺序。It should be understood that step S100 and step S200 may be executed simultaneously or sequentially, and it is not necessary to distinguish the execution order.

步骤S300，根据电梯的状态信息和处于等待交付状态的配送机器人的状态信息对处于等待交付状态的配送机器人进行调度。Step S300: Dispatch the delivery robot in the state of waiting for delivery according to the state information of the elevator and the state information of the delivery robot in the state of waiting for delivery.

优选地，第一类订单的信息包括第一类订单的剩余送达时间。由此，步骤S300可以包括如下步骤：Preferably, the information of the first order includes the remaining delivery time of the first order. Thus, step S300 may include the following steps:

步骤S310，根据电梯的状态信息确定电梯的预计等待时间。In step S310, the estimated waiting time of the elevator is determined according to the status information of the elevator.

具体地，可以根据电梯当前位置、电梯的预定停留楼层、电梯的运行方向和电梯的运行速度确定电梯的预计等待时间，也可以根据电梯的历史运行数据确定电梯的预计等待时间。应理解，在存在多个电梯的状态信息时，预计等待时间可以为多个电梯的最短预计等待时间。Specifically, the estimated waiting time of the elevator may be determined according to the current position of the elevator, the scheduled floor of the elevator, the running direction of the elevator, and the running speed of the elevator, or the estimated waiting time of the elevator may be determined according to the historical operating data of the elevator. It should be understood that when there is status information of multiple elevators, the expected waiting time may be the shortest expected waiting time of multiple elevators.

步骤S320，根据剩余送达时间和预计等待时间对处于等待交付状态的配送机器人进行调度。In step S320, the delivery robot in the state of waiting for delivery is scheduled according to the remaining delivery time and the expected waiting time.

在存在多个第一类订单时，服务器可以获取处于等待交付状态的各配送机器人 的第一类订单的剩余送达时间，并获取最短剩余送达时间，从而根据最短剩余送达时间和最短预计等待时间对配送机器人进行调度。具体地，在最短剩余送达时间大于最短预计等待时间时，服务器可以控制对应的配送机器人继续保持等待交付状态。其中,剩余送达时间可以指的是该第一类订单的预计送达时间与当前时间的差值，也可以指的是该第一类订单的最晚送达时间与当前时间的差值，还可以指的是该第一类订单用户要求的送达时间与当前时间的差值When there are multiple first-class orders, the server can obtain the remaining delivery time of the first-type orders of each delivery robot in the waiting-for-delivery state, and obtain the shortest remaining delivery time, so that the shortest remaining delivery time and the shortest estimate Waiting time for dispatch robots. Specifically, when the shortest remaining delivery time is greater than the shortest expected waiting time, the server can control the corresponding delivery robot to continue to wait for delivery. Among them, the remaining delivery time can refer to the difference between the estimated delivery time of the first order and the current time, or the difference between the latest delivery time of the first order and the current time, It can also refer to the difference between the delivery time requested by the first order user and the current time

例如，机器人1的第一类订单为订单1和订单2，订单1的剩余时间为10分钟，订单2的剩余时间为15分钟，机器人1的最短剩余时间为10分钟。电梯的最短预计等待时间为5分钟。最短剩余送达时间大于最短预计等待时间，服务器可以控制机器人1继续在交付点进行等待。For example, the first order of robot 1 is order 1 and order 2, the remaining time of order 1 is 10 minutes, the remaining time of order 2 is 15 minutes, and the minimum remaining time of robot 1 is 10 minutes. The minimum waiting time for an elevator is 5 minutes. The shortest remaining delivery time is greater than the shortest expected waiting time, and the server can control the robot 1 to continue to wait at the delivery point.

优选地，服务器还可以获取配送机器人从交付点移动到电梯的停靠位置的预计移动时间。具体地，可以获取交付点移动到电梯的停靠位置的距离，并根据配送机器人的移动速度获取配送机器人的预计移动时间。在剩余送达时间与预计等待时间的差值大于预计移动时间时，服务器可以控制对应的配送机器人继续保持等待交付状态。由此，后续有配送人员到达交付点时，可以将配送标的交付给配送机器人，降低配送人员的预计等待时间。Preferably, the server can also obtain the estimated movement time of the distribution robot moving from the delivery point to the parking position of the elevator. Specifically, the distance from the delivery point to the parking position of the elevator can be obtained, and the estimated moving time of the distribution robot can be obtained according to the moving speed of the distribution robot. When the difference between the remaining delivery time and the expected waiting time is greater than the estimated moving time, the server can control the corresponding delivery robot to continue to wait for delivery. As a result, when a delivery person arrives at the delivery point in the future, the delivery target can be delivered to the delivery robot, reducing the expected waiting time of the delivery person.

本实施例通过获取配送区域内至少一个配送机器人的状态信息，并确定所述配送区域内的至少一个电梯的状态信息，进而根据所述配送机器人的状态信息和所述电梯的状态信息对所述配送机器人进行调度。由此，能够以较优的方式完成配送机器人的调度，从而提升配送过程的效率，降低配送机器人的配送成本。In this embodiment, the status information of at least one distribution robot in the distribution area is obtained, and the status information of at least one elevator in the distribution area is determined, and then the status information of the distribution robot and the status information of the elevator Dispatch robots perform scheduling. As a result, the scheduling of the delivery robot can be completed in an optimal manner, thereby improving the efficiency of the delivery process and reducing the delivery cost of the delivery robot.

图3是本发明第二实施例的调度方法的流程图。如图2所示，本实施例的方法包括如下步骤：3 is a flowchart of a scheduling method according to a second embodiment of the invention. As shown in FIG. 2, the method of this embodiment includes the following steps:

步骤S100’，获取处于等待交付状态的配送机器人的状态信息。In step S100', the status information of the delivery robot in the waiting-for-delivery state is acquired.

在本实施例中，步骤S100’和步骤S100的实现方式相似，在此不再赘述。In this embodiment, the implementation of step S100' and step S100 are similar and will not be repeated here.

步骤S200’，确定配送区域内的至少一个电梯的状态信息。In step S200', the status information of at least one elevator in the delivery area is determined.

在本实施例中，步骤S200’和步骤S200的实现方式相似，在此不再赘述。In this embodiment, the implementation of step S200' and step S200 are similar, and will not be repeated here.

应理解，步骤S200’和步骤S100’可以同时执行，也可以先后执行，不必区分执行顺序。It should be understood that step S200' and step S100' may be executed simultaneously or sequentially, and it is not necessary to distinguish the execution order.

步骤S300’，获取客户地址在配送区域内的第二类订单。Step S300': Obtain the second order of the customer address in the delivery area.

服务器可以获取客户地址在配送区域内的第二类订单。第二类订单用于表征配 送人员在配送中的订单，具体地，第二类订单的信息至少可以包括第二类订单标识和对应的订单配送的目标地址。The server can obtain the second order of the customer address in the distribution area. The second type of order is used to characterize the order of the delivery personnel in the distribution. Specifically, the information of the second type of order may include at least the second type of order identifier and the corresponding order delivery target address.

应理解，步骤S300’和步骤S200’可以同时执行，也可以先后执行，不必区分执行顺序。It should be understood that step S300' and step S200' may be executed at the same time, or may be executed one after another, and it is not necessary to distinguish the execution order.

步骤S400’，确定第二类订单的配送人员到达配送区域的交付点的预计达到时间。Step S400': Determine the expected arrival time of the delivery personnel of the second order to the delivery point of the delivery area.

具体地，服务器可以获取配送人员的终端当前位置信息和交付点的位置信息，并根据交付点的位置信息和配送人员的终端当前位置信息之间的路程计算配送人员的预计到达时间。更具体地，服务器可以根据非机动车的平均速率计算预计到达时间，也可以获取配送人员的终端的平均移动速率(也即，配送人员的平均移动速率)，并根据平均移动速率计算预计到达时间。应理解，计算预计到达时间的方式不限于上述两种，也可以通过其他方式计算预计到达时间。Specifically, the server can acquire the current location information of the delivery personnel's terminal and the location information of the delivery point, and calculate the estimated arrival time of the delivery personnel according to the distance between the location information of the delivery point and the current location information of the delivery personnel's terminal. More specifically, the server can calculate the estimated arrival time based on the average speed of the non-motorized vehicle, and can also obtain the average movement rate of the terminal of the delivery person (that is, the average movement rate of the delivery person), and calculate the estimated arrival time based on the average movement rate . It should be understood that the method of calculating the estimated time of arrival is not limited to the above two, and the estimated time of arrival may also be calculated by other methods.

优选地，服务器还可以根据交通信息调整通过计算获得的预计到达时间。其中，交通信息为交通状况。交通状况对于配送人员的移动速率也会产生影响，因此可以获取配送人员的终端当前状况到交付点的位置之间的交通状况，并根据交通状况调整预计到达时间，从而可以获得更加准确的预计到达时间。Preferably, the server can also adjust the estimated arrival time obtained through calculation according to the traffic information. Among them, the traffic information is traffic conditions. Traffic conditions also have an impact on the movement rate of distribution personnel, so you can obtain the traffic conditions between the current status of the distribution personnel's terminal and the location of the delivery point, and adjust the estimated arrival time according to the traffic conditions, so that you can get a more accurate estimated arrival time.

步骤S500’，根据电梯的状态信息、预计到达时间和配送机器人的状态信息对处于等待交付状态的配送机器人进行调度。In step S500', the delivery robot in the waiting-for-delivery state is scheduled based on the elevator status information, the estimated arrival time, and the delivery robot status information.

可选地，第一类订单的信息包括第一类订单的剩余送达时间。由此，步骤S500’可以包括如下步骤：Optionally, the information of the first order includes the remaining delivery time of the first order. Thus, step S500' may include the following steps:

步骤S510’，根据电梯的状态信息确定电梯的预计等待时间。Step S510', the estimated waiting time of the elevator is determined according to the status information of the elevator.

在本实施例中，步骤S510’和步骤S310的实现方式相似，在此不再赘述。In this embodiment, the implementation of step S510' and step S310 are similar and will not be repeated here.

步骤S520’，根据剩余送达时间、预计等待时间和预计到达时间对处于等待交付状态的配送机器人进行调度。In step S520', the delivery robot in the waiting-for-delivery state is scheduled based on the remaining delivery time, the estimated waiting time, and the estimated arrival time.

优选地，服务器可以响应于预计等待时间大于预计到达时间且剩余送达时间大于预定阈值，将第二类订单指派给处于等待交付状态的配送机器人并控制所述配送机器人继续保持等待交付状态。由此，配送机器人可以在交付点等待配送人员交付，无需配送人员等待其他配送机器人完成配送回到交付点，降低了配送人员的预计等待时间，同时不影响第一类订单的配送，从而提升了配送过程的效率。Preferably, in response to the expected waiting time being greater than the expected arrival time and the remaining delivery time being greater than a predetermined threshold, the server may assign the second order to the delivery robot in the waiting-for-delivery state and control the delivery robot to continue to remain in the waiting-for-delivery state. As a result, the distribution robot can wait for the delivery staff to deliver at the delivery point, without the delivery staff waiting for other delivery robots to complete the delivery and return to the delivery point, which reduces the expected waiting time of the delivery personnel and does not affect the delivery of the first order, thereby improving The efficiency of the distribution process.

例如，配送人员1的预计到达时间为5分钟，电梯的预计等待时间为7分钟，机器人1的第一订单对应的最短剩余送达时间为10分钟大于预定阈值8分钟，服务 器可以控制机器人1在交付点等待配送人员1。For example, the estimated arrival time of delivery person 1 is 5 minutes, the estimated waiting time of the elevator is 7 minutes, the shortest remaining delivery time corresponding to the first order of robot 1 is 10 minutes, which is greater than the predetermined threshold of 8 minutes. The server can control robot 1 to Delivery point waiting for delivery personnel 1.

应理解，预定阈值可以根据第一类订单的目标地址确定。例如，第一类订单的目标地址在2层，预定阈值可以为5分钟，第一类订单的目标地址在3层，预定阈值可以为6分钟。It should be understood that the predetermined threshold may be determined according to the target address of the first order. For example, the target address of the first type of orders is at level 2, and the predetermined threshold may be 5 minutes, and the target address of the first type of orders is at level 3, and the predetermined threshold may be 6 minutes.

可选地，服务器还可以获取配送机器人从交付点移动到电梯的停靠位置的预计移动时间。具体地，可以获取交付点移动到电梯的停靠位置的距离，并根据配送机器人的移动速度获取配送机器人的预计移动时间。由此，服务器可以响应于预计等待时间与预计到达时间的差值大于预计移动时间，且剩余送达时间大于预定阈值，将第二类订单指派给处于等待交付状态的配送机器人并控制所述配送机器人继续保持等待交付状态。由此，后续有配送人员到达交付点时，可以将配送标的交付给配送机器人，降低配送人员的预计等待时间，同时不影响第一类订单的配送。Optionally, the server can also obtain the estimated movement time of the delivery robot moving from the delivery point to the parking position of the elevator. Specifically, the distance from the delivery point to the parking position of the elevator can be obtained, and the estimated moving time of the distribution robot can be obtained according to the moving speed of the distribution robot. Thus, in response to the difference between the estimated waiting time and the estimated arrival time being greater than the estimated moving time, and the remaining delivery time being greater than the predetermined threshold, the second type of order can be assigned to a delivery robot in a waiting delivery state and control the delivery The robot continues to wait for delivery. As a result, when a delivery person arrives at the delivery point in the future, the delivery target can be delivered to the delivery robot, reducing the delivery person's expected waiting time, while not affecting the delivery of the first order.

可选地，服务器在对第二类订单进行调度后，还可以向对应的配送机器人发送订单指派消息。订单指派消息用于将第二类订单与接收该订单指派消息的配送机器人绑定。优选地，在第一类订单与配送机器人完成绑定后，服务器还可以向配送人员发送标识通知，告知配送人员各第二类订单对应的配送机器人的标识。Optionally, after scheduling the second order, the server may also send an order assignment message to the corresponding delivery robot. The order assignment message is used to bind the second order to the delivery robot that receives the order assignment message. Preferably, after the binding of the first order and the delivery robot is completed, the server may also send an identification notice to the delivery personnel to inform the delivery personnel of the identity of the delivery robot corresponding to each second order.

本实施例通过获取客户地址在配送区域内的第二类订单，从而确定所述第一类订单的配送人员到达所述配送区域的交付点的预计到达时间，并确定所述配送区域内的至少一个电梯的状态信息和至少一个配送机器人的状态信息，进而根据所述电梯的状态信息、所述配送机器人的状态信息和所述预计到达时间对所述配送机器人进行调度。由此，能够以较优的方式完成配送机器人的调度，从而提升配送过程的效率，降低配送机器人的配送成本。In this embodiment, by obtaining the second order of the customer address in the delivery area, the estimated arrival time of the delivery personnel of the first order to the delivery point of the delivery area is determined, and at least the delivery area is determined to be at least The state information of one elevator and the state information of at least one delivery robot, and then dispatches the delivery robot according to the state information of the elevator, the state information of the delivery robot and the estimated arrival time. As a result, the scheduling of the delivery robot can be completed in an optimal manner, thereby improving the efficiency of the delivery process and reducing the delivery cost of the delivery robot.

图4是本发明第二实施例的应用场景图。如图4所示，服务器可以获取多个待分配订单(也即，第二类订单)标识和对应的预计到达时间(也即，待分配订单信息)、处于等待交付状态的配送机器人标识和对应的剩余送达时间(也即，机器人状态信息)以及电梯标识和对应的预计等待时间(也即，电梯标识及其信息)，并展示在信息显示窗口41中。服务器可以根据上述信息对订单进行调度，并将调度结果展示在调度结果显示窗口42中。同时，服务器还可以将调度结果作为订单指派消息分别发送至对应的配送机器人，使得对应的配送机器人能够在后续响应于接收到被指派的第二类订单标识，开仓接收配送标的。FIG. 4 is an application scenario diagram of a second embodiment of the present invention. As shown in FIG. 4, the server can obtain the identifiers of multiple orders to be allocated (that is, the second type of orders) and corresponding estimated arrival times (that is, order information to be allocated), the identifiers of the delivery robots in the state of waiting for delivery and the corresponding The remaining delivery time (ie, the robot status information) and the elevator logo and the corresponding expected waiting time (ie, the elevator logo and its information) are displayed in the information display window 41. The server can schedule the order according to the above information, and display the scheduling result in the scheduling result display window 42. At the same time, the server can also send the scheduling result as an order assignment message to the corresponding delivery robot, so that the corresponding delivery robot can subsequently open a position to receive the delivery target in response to receiving the assigned second-type order identifier.

图5是本发明第三实施例的调度方法的流程图。如图5所示，本实施例的调度 方法包括如下步骤：5 is a flowchart of a scheduling method according to a third embodiment of the invention. As shown in FIG. 5, the scheduling method of this embodiment includes the following steps:

步骤S100”，获取处于等待交付状态的配送机器人的状态信息。Step S100", acquiring the status information of the delivery robot in the waiting-for-delivery state.

在本实施例中，步骤S100”和步骤S100的实现方式相似，在此不再赘述。In this embodiment, the implementation of step S100" is similar to that of step S100, and will not be repeated here.

步骤S200”，确定配送区域内的至少一个电梯的状态信息。Step S200", the status information of at least one elevator in the delivery area is determined.

在本实施例中，步骤S200”和步骤S200的实现方式相似，在此不再赘述。In this embodiment, the implementation of step S200" is similar to that of step S200, and will not be repeated here.

应理解，步骤S100”和步骤S200”可以同时执行，也可以先后执行，不必区分执行顺序。It should be understood that step S100" and step S200" may be executed at the same time, or may be executed in sequence, and it is not necessary to distinguish the execution order.

步骤S300”，根据电梯的状态信息和预计到达时间对处于等待交付状态的配送机器人进行调度。Step S300", according to the state information of the elevator and the estimated arrival time, dispatch the delivery robot in the state of waiting for delivery.

在本实施例中，步骤S300”和步骤S300的实现方式相似，在此不再赘述。In this embodiment, the implementation of step S300" is similar to that of step S300, and will not be repeated here.

步骤S400”，获取处于配送状态的配送机器人的状态信息。Step S400", acquiring the state information of the delivery robot in the delivery state.

其中，处于配送状态的配送机器人的状态信息包括配送机器人的位置和配送中的订单的目标地址。具体地，在存在至少一个处于配送状态的配送机器人时，该配送机器人可以确定自身当前的状态信息，并通过网络将状态信息上报至服务器。由此，服务器可以获取至少一个处于配送状态的配送机器人的状态信息。The state information of the delivery robot in the delivery state includes the position of the delivery robot and the target address of the order in delivery. Specifically, when there is at least one delivery robot in a delivery state, the delivery robot can determine its current state information and report the state information to the server through the network. Thereby, the server can acquire the status information of at least one delivery robot in the delivery state.

应理解，步骤S400”和步骤S200”可以同时执行，也可以先后执行，不必区分执行顺序。It should be understood that step S400" and step S200" may be executed at the same time, or may be executed one after another, and it is not necessary to distinguish the execution order.

步骤S500”，根据配送机器人的状态信息和电梯的状态信息对电梯进行调度。Step S500", dispatch the elevator according to the status information of the delivery robot and the status information of the elevator.

可选地，在根据处于等待状态的配送机器人的状态信息对电梯进行调度时，服务器在预计等待时间和预计到达时间的差值大于预定阈值(例如，配送人员从到达交付点到将第二类订单的配送标的交付给配送机器人所需要的时间)且配送机器人在完成订单交付后立刻开始配送时，根据电梯的运行方向和电梯当前位置对电梯进行调度，预约电梯在交付点所在的楼层进行停留。电梯预约成功后，服务器还可以获取预约的电梯标识，并将电梯标识发送给指派的配送机器人。由此，配送机器人可以在交付点等待配送人员交付，无需配送人员等待其他配送机器人完成配送回到交付点，降低了配送人员的预计等待时间，同时完成了电梯预约，降低了配送机器人等待电梯的时间，进一步提升了配送过程的效率。Optionally, when dispatching the elevator according to the status information of the delivery robot in a waiting state, the difference between the estimated waiting time and the estimated arrival time of the server is greater than a predetermined threshold (for example, the delivery personnel from the delivery point to the second category The time required for the delivery of the order's delivery target to be delivered to the delivery robot) and when the delivery robot starts delivery immediately after completing the order delivery, the elevator is scheduled according to the direction of the elevator's operation and the current position of the elevator, and the elevator is reserved to stay on the floor at the delivery point . After the elevator reservation is successful, the server can also obtain the reserved elevator ID and send the elevator ID to the assigned distribution robot. As a result, the distribution robot can wait for the delivery staff to deliver at the delivery point, without the delivery staff waiting for other delivery robots to complete the delivery and return to the delivery point, which reduces the estimated waiting time of the delivery personnel, completes the elevator reservation, and reduces the waiting time Time has further improved the efficiency of the distribution process.

在根据处于配送状态的配送机器人的状态信息对电梯进行调度时，可选地，服务器可以确定电梯的多种运行组合方式，对于不同的运行组合方式，服务器可以根据至少一个配送机器人的位置、配送中的订单的目标地址以及电梯当前位置分别计算效 率参数，并选取效率最优的运行组合方式对电梯进行调度。其中，配送效率可以为电梯在单位时间内运送的配送机器人的数量。由此，可以降低机器人等待电梯的时间，从而提升配送效率。When dispatching elevators according to the status information of the delivery robots in the delivery state, optionally, the server can determine multiple operation combinations of the elevator. For different operation combinations, the server can determine the position and delivery of at least one delivery robot The target address of the order in the order and the current position of the elevator calculate the efficiency parameters, respectively, and select the most efficient operation combination to dispatch the elevator. Among them, the distribution efficiency may be the number of distribution robots transported by the elevator in a unit time. Thereby, the time for the robot to wait for the elevator can be reduced, thereby improving the distribution efficiency.

图6是本发明第二实施例的配送机器人所在楼的示意图。如图6所示，楼中存在两个处于配送状态的配送机器人，分别为机器人1(也即，61)和机器人2(也即，62)，其中，机器人1所在的楼层为1层，配送中的订单为订单1，订单1的目标地址在5层，机器人2所在的楼层为2层，配送中的订单为订单2，订单2的目标地址在18层。楼中有两部电梯，分别为电梯1(也即，63)和电梯2(也即，64)，其中，电梯1当前在4层停留，电梯2当前在8层停留。服务器可以分别获取电梯1和电梯2的位置和运行速度，从而确定电梯在不同楼层之间的预计运行时间，也可以根据电梯的历史运行数据确定电梯在不同楼层之间的预计运行时间，从而计算各电梯调度方式的配送效率。图7为本发明第三实施例的电梯调度方式的示意图。如图7所示，可以有四种电梯调度方式(也即，电梯的运行组合方式)。以电梯调度方式1为例，电梯1可以从4层到达1层等待机器人1进入，从1层到达2层等待机器人2进入，从2层到达5层等待机器人1下电梯，从5层到达18层等待机器人2下电梯其中，电梯1从4层到达1层的预计运行时间为t1，从1层到达2层的预计运行时间为t2，从2层到达5层的预计运行时间为t3，从5层到达18层的预计运行时间为t4。由此，电梯1总的预计运行时间为t1+t2+t3+t4，配送效率为2/(t1+t2+t3+t4)。对于电梯调度方式2，计算配送效率的方式与电梯调度方式1相似。对于电梯调度方式3和电梯调度方式4，可以分别计算电梯1的配送效率和电梯2的配送效率，并赋予不同的权重，由此可以获得电梯调度方式3和电梯调度方式4的配送效率。由此，服务器可以确定出效率参数最优的指派方式并对电梯进行调度，从而提升配送过程的效率。6 is a schematic diagram of a building where a distribution robot is located according to a second embodiment of the present invention. As shown in FIG. 6, there are two delivery robots in the delivery state, namely robot 1 (that is, 61) and robot 2 (that is, 62), where the floor where robot 1 is located is the first floor and the delivery The order in is order 1, the target address of order 1 is on the 5th floor, the floor where robot 2 is located is on the 2nd floor, the order in delivery is order 2, and the target address of order 2 is on the 18th floor. There are two elevators in the building, namely elevator 1 (that is, 63) and elevator 2 (that is, 64), where elevator 1 currently stays on the fourth floor and elevator 2 currently stays on the eighth floor. The server can obtain the positions and running speeds of elevator 1 and elevator 2, respectively, so as to determine the estimated running time of the elevator between different floors, or it can determine the estimated running time of the elevator between different floors according to the historical operating data of the elevator, so as to calculate Distribution efficiency of various elevator dispatching methods. 7 is a schematic diagram of an elevator dispatching method according to a third embodiment of the present invention. As shown in FIG. 7, there may be four elevator dispatching modes (that is, elevator operation combination modes). Taking elevator dispatch mode 1 as an example, elevator 1 can reach the first floor from the 4th floor and wait for the robot 1 to enter, from the first floor to the second floor to wait for the robot 2 to enter, from the second floor to the fifth floor to wait for the robot 1 to get off the elevator, from the fifth floor to the 18 Floor 2 waiting for the robot to get off the elevator. Among them, the estimated running time of elevator 1 from the fourth floor to the first floor is t1, the estimated running time of the first floor to the second floor is t2, and the estimated running time of the second floor to the fifth floor is t3, from The estimated running time from the 5th floor to the 18th floor is t4. Therefore, the total estimated running time of the elevator 1 is t1+t2+t3+t4, and the distribution efficiency is 2/(t1+t2+t3+t4). For elevator dispatch method 2, the method of calculating the distribution efficiency is similar to elevator dispatch method 1. For the elevator dispatch mode 3 and the elevator dispatch mode 4, the dispatch efficiency of the elevator 1 and the dispatch efficiency of the elevator 2 can be calculated separately, and different weights are given, so that the dispatch efficiency of the elevator dispatch mode 3 and the elevator dispatch mode 4 can be obtained. In this way, the server can determine the optimal assignment method of efficiency parameters and dispatch elevators, thereby improving the efficiency of the distribution process.

应理解，在电梯需要到达其他楼层时，电梯的运行状态还可以包括电梯预定到达的楼层和电梯的运行方向，由此，可以获得更加准确的预计运行时间。It should be understood that when the elevator needs to reach other floors, the running state of the elevator may also include the floor to which the elevator is scheduled to arrive and the running direction of the elevator, thereby obtaining a more accurate estimated running time.

可选地，服务器还可以以至少一个配送机器人的位置、配送中的订单的目标地址以及电梯当前位置为约束条件，通过最优化方法规划最优的电梯的运行组合方式，从而对电梯进行调度。由此，可以降低机器人等待电梯的时间，从而提升配送效率。Optionally, the server can also use the optimization method to plan the optimal elevator operation combination mode by using the position of at least one delivery robot, the target address of the order in delivery and the current position of the elevator as constraints, so as to schedule the elevator. Thereby, the time for the robot to wait for the elevator can be reduced, thereby improving the distribution efficiency.

例如，存在两个处于配送状态的配送机器人，分别为机器人1和机器人2，其中，机器人1所在的楼层为1层，配送中的订单为订单1，机器人2所在的楼层为2层，配送中的订单为订单2。楼中有两部电梯，分别为电梯1和电梯2，其中，电梯1当 前在4层停留，电梯2当前在8层停留。在订单1的目标地址和订单2的目标地址的所在楼层相同或相邻时，服务器可以根据电梯的运行方向将配送机器人1和配送机器人2同时指派给电梯1或电梯2，具体地，在电梯1和电梯2的运行方向均为向下时，服务器可以将配送机器人1和配送机器人2同时指派给电梯1；在电梯1的运行方向为向上、电梯2的运行方向为向下时，服务器可以配送机器人1和配送机器人2同时指派给电梯2。由此，服务器可以规划出最优的电梯的运行组合方式，从而提升配送过程的效率。For example, there are two delivery robots in the delivery state, namely robot 1 and robot 2, where the floor of robot 1 is on the first floor, the order in delivery is order 1, and the floor of robot 2 is on the second floor, in delivery 'S order is order 2. There are two elevators in the building, elevator 1 and elevator 2, of which elevator 1 currently stops on the 4th floor and elevator 2 currently stops on the 8th floor. When the target address of order 1 and the target address of order 2 are on the same floor or adjacent to each other, the server can assign the distribution robot 1 and the distribution robot 2 to the elevator 1 or the elevator 2 at the same time according to the running direction of the elevator. When both the running direction of 1 and elevator 2 are downward, the server can assign the distribution robot 1 and the distribution robot 2 to elevator 1 at the same time; when the running direction of elevator 1 is upward and the running direction of elevator 2 is downward, the server can The distribution robot 1 and the distribution robot 2 are assigned to the elevator 2 at the same time. In this way, the server can plan the optimal combination of elevator operations, thereby improving the efficiency of the distribution process.

本发明实施例通过获取配送区域内至少一个配送机器人的状态信息，并确定所述配送区域内的至少一个电梯的状态信息，进而根据所述配送机器人的状态信息和所述电梯的状态信息对所述配送机器人进行调度。同时，通过获取处于配送状态的配送机器人的状态信息，并根据配送机器人的状态信息和电梯的状态信息对电梯进行调度。由此，能够以较优的方式完成配送机器人和电梯的调度，从而提升配送过程的效率，降低配送机器人的配送成本。In the embodiment of the present invention, the status information of at least one distribution robot in the distribution area is obtained, and the status information of at least one elevator in the distribution area is determined. The distribution robot performs scheduling. At the same time, by acquiring the state information of the delivery robot in the delivery state, and dispatching the elevator according to the state information of the delivery robot and the state information of the elevator. In this way, the dispatching of the delivery robot and the elevator can be completed in an optimal manner, thereby improving the efficiency of the delivery process and reducing the delivery cost of the delivery robot.

图8是本发明第三实施例的应用场景图。如图8所示，服务器可以获取配送机器人的标识及当前位置(也即，机器人及信息)、各配送机器人正在配送的订单和各订单对应的目标位置(也即，订单及信息)并展示在配送机器人信息展示窗口81中。同时获取各电梯的状态信息(也即，电梯标识和点对应的电梯状态信息)，并展示在电梯信息展示窗口82中。由此，服务器可以根据上述信息获取电梯的调度结果，并展示在调度结果展示窗口83中。同时，服务器还可以将调度结果作为消息分别发送至对应的配送机器人，使得对应的配送机器人能够在后续根据电梯标识进入对应的电梯。FIG. 8 is an application scenario diagram of a third embodiment of the present invention. As shown in FIG. 8, the server can obtain the identification and current position of the delivery robot (ie, robot and information), the order being delivered by each delivery robot and the target position corresponding to each order (ie, order and information) and display it on In the delivery robot information display window 81. At the same time, the status information of each elevator (that is, the elevator status information corresponding to the elevator identification and the point) is acquired and displayed in the elevator information display window 82. Therefore, the server can obtain the dispatching result of the elevator based on the above information and display it in the dispatching result display window 83. At the same time, the server can also send the scheduling result as a message to the corresponding distribution robot, so that the corresponding distribution robot can subsequently enter the corresponding elevator according to the elevator identification.

图9是本发明第四实施例调度装置的示意图。如图9所示，本实施例的调度装置包括第一获取单元91、第一确定单元92和第一调度单元93。9 is a schematic diagram of a scheduling apparatus according to a fourth embodiment of the present invention. As shown in FIG. 9, the scheduling apparatus of this embodiment includes a first obtaining unit 91, a first determining unit 92, and a first scheduling unit 93.

其中，第一获取单元91用于获取处于等待交付状态的配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单。第一确定单元92用于确定所述配送区域内的至少一个电梯的状态信息。第一调度单元93用于根据所述电梯的状态信息和和所述配送机器人的状态信息对处于等待交付状态的所述配送机器人进行调度。Among them, the first acquiring unit 91 is used to acquire the status information of the delivery robot in a waiting-for-delivery state, the status information includes information of the first type of order, and at least one for receiving the delivery target from the delivery point is provided in the delivery area For the delivery robot delivered to the target address, the first type of order is an order that has been delivered to the delivery robot in a state of waiting for delivery. The first determining unit 92 is used to determine the status information of at least one elevator in the distribution area. The first dispatch unit 93 is used to dispatch the delivery robot in a state of waiting for delivery according to the state information of the elevator and the state information of the delivery robot.

进一步地，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；Further, the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

所述第一调度单元93包括第一确定子单元和第一调度子单元。The first scheduling unit 93 includes a first determining subunit and a first scheduling subunit.

其中，第一确定子单元用于根据所述电梯的状态信息确定所述电梯的预计等待时间。第一调度子单元用于根据所述剩余送达时间和所述预计等待时间对处于等待交付状态的所述配送机器人进行调度。Wherein, the first determining subunit is used to determine the estimated waiting time of the elevator according to the status information of the elevator. The first scheduling subunit is used to schedule the delivery robot in a state of waiting for delivery according to the remaining delivery time and the expected waiting time.

进一步地，第一调度子单元包括第一获取模块和第一控制模块。Further, the first scheduling subunit includes a first acquisition module and a first control module.

其中，第一获取模块用于获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间。第一控制模块用于响应于所述剩余送达时间与所述预计等待时间的差值大于所述预计移动时间，控制所述配送机器人继续保持等待交付状态。Wherein, the first obtaining module is used to obtain the estimated moving time of the delivery robot moving from the delivery point to the parking position of the elevator. The first control module is configured to control the delivery robot to continue to wait for delivery in response to the difference between the remaining delivery time and the expected waiting time being greater than the estimated moving time.

进一步地，所述装置还包括第二获取单元94、第二确定单元95和第二调度单元96。Further, the device further includes a second obtaining unit 94, a second determining unit 95, and a second scheduling unit 96.

其中，第二获取单元94用于获取收货地址在配送区域内的第二类订单，所述第二类订单为配送人员在配送中的订单。第二确定单元95用于确定所述第二类订单的配送人员到达所述配送区域的交付点的预计到达时间。第二调度单元96用于根据所述电梯的状态信息、所述预计到达时间和处于等待交付状态的所述配送机器人的状态信息和对处于等待交付状态的所述配送机器人进行调度。Wherein, the second obtaining unit 94 is used to obtain a second order of the delivery address in the delivery area, where the second order is an order delivered by a delivery person. The second determining unit 95 is used to determine the estimated arrival time of the delivery personnel of the second order arriving at the delivery point of the delivery area. The second dispatch unit 96 is used for dispatching the delivery robot in a waiting delivery state based on the elevator state information, the estimated arrival time, and the delivery robot's waiting delivery state information.

进一步地，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；Further, the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

所述第二获取单元94包括第二确定子单元和第二调度子单元。The second obtaining unit 94 includes a second determining subunit and a second scheduling subunit.

其中，第二确定子单元用于根据所述电梯的状态信息确定所述电梯的预计等待时间。第二调度子单元用于根据所述剩余送达时间、所述预计等待时间和所述预计到达时间对处于等待交付状态的所述配送机器人进行调度。Wherein, the second determining subunit is used to determine the estimated waiting time of the elevator according to the status information of the elevator. The second scheduling subunit is used for scheduling the delivery robot in a waiting delivery state according to the remaining delivery time, the expected waiting time, and the estimated arrival time.

进一步地，所述第二调度子单元用于响应于所述预计等待时间大于所述预计到达时间且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的所述配送机器人并控制所述配送机器人继续保持等待交付状态。Further, the second scheduling sub-unit is used to assign the second order to a waiting-for-delivery state in response to the expected waiting time being greater than the expected arrival time and the remaining delivery time being greater than a predetermined threshold The delivery robot controls the delivery robot to continue to wait for delivery.

进一步地，所述第二调度子单元包括第二获取模块和第二控制模块。Further, the second scheduling subunit includes a second acquisition module and a second control module.

第二获取模块用于获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间。第二控制模块用于响应于所述预计等待时间与所述预计到达时间的差值大于所述预计移动时间，且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的所述配送机器人并控制所述配送机器人继续保持等待交付状态。The second acquisition module is used to acquire the estimated movement time of the delivery robot moving from the delivery point to the parking position of the elevator. The second control module is configured to, in response to the difference between the estimated waiting time and the estimated arrival time being greater than the estimated travel time, and the remaining delivery time being greater than a predetermined threshold, assign the second order to The delivery robot waiting for the delivery state and controlling the delivery robot to continue to maintain the delivery waiting state.

进一步地，所述装置还包括第三获取单元97和第三调度单元98。Further, the device further includes a third obtaining unit 97 and a third scheduling unit 98.

其中，第三获取单元97用于获取处于配送状态的配送机器人的状态信息，所述状态信息包括所述配送机器人的位置和配送中的订单的目标地址。第三调度单元98用于根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度。The third obtaining unit 97 is used to obtain the state information of the delivery robot in the delivery state, where the state information includes the position of the delivery robot and the target address of the order in delivery. The third dispatch unit 98 is used to dispatch the elevator according to the status information of the distribution robot and the status information of the elevator.

进一步地，所述第三调度单元98包括第三确定子单元、计算子单元和第三调度子单元。Further, the third scheduling unit 98 includes a third determination subunit, a calculation subunit, and a third scheduling subunit.

其中，第三确定子单元用于确定所述电梯的多种运行组合方式。计算子单元用于对于不同的运行组合方式，根据至少一个所述配送机器人的位置、配送中的订单的目标地址以及电梯当前位置分别计算效率参数。第三调度子单元用于选取效率参数最优的运行组合方式对电梯进行调度。Wherein, the third determining subunit is used to determine multiple operation combination modes of the elevator. The calculation subunit is used to calculate efficiency parameters for different operation combinations according to the position of at least one of the distribution robots, the target address of the order in the distribution, and the current position of the elevator. The third dispatching subunit is used to select the operation combination mode with the best efficiency parameter to dispatch the elevator.

进一步地，所述第三调度单元98用于以至少一个所述配送机器人的位置、所述配送中的订单的目标地址以及所述电梯当前位置为约束条件，通过最优化方法规划电梯的运行组合方式。Further, the third scheduling unit 98 is configured to use at least one position of the distribution robot, the target address of the order in the distribution, and the current position of the elevator as constraints, to plan the operation combination of the elevator through an optimization method the way.

本发明实施例通过获取配送区域内至少一个配送机器人的状态信息，并确定所述配送区域内的至少一个电梯的状态信息，进而根据所述配送机器人的状态信息和所述电梯的状态信息对所述配送机器人进行调度。由此，能够以较优的方式完成配送机器人的调度，从而提升配送过程的效率，降低配送机器人的配送成本。In the embodiment of the present invention, the status information of at least one distribution robot in the distribution area is obtained, and the status information of at least one elevator in the distribution area is determined. The distribution robot performs scheduling. As a result, the scheduling of the delivery robot can be completed in an optimal manner, thereby improving the efficiency of the delivery process and reducing the delivery cost of the delivery robot.

图10是本发明第五实施例的电子设备的示意图。如图10所示，该电子设备：至少包括一个处理器1001；以及，与至少一个处理器1001通信连接的存储器1002；以及，与扫描装置通信连接的通信组件1003，通信组件1003在处理器1001的控制下接收和发送数据；其中，存储器1002存储有可被至少一个处理器1001执行的指令，指令被至少一个处理器1001执行以实现：10 is a schematic diagram of an electronic device according to a fifth embodiment of the invention. As shown in FIG. 10, the electronic device includes at least one processor 1001; and a memory 1002 communicatively connected to the at least one processor 1001; and a communication component 1003 communicatively connected to the scanning device. The communication component 1003 is in the processor 1001 Receive and send data under the control of the; where the memory 1002 stores instructions executable by at least one processor 1001, the instructions are executed by at least one processor 1001 to achieve:

获取配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单；Obtain the status information of the delivery robot. The status information includes information of the first order. At least one delivery robot for receiving a delivery target from a delivery point and delivering to a target address is provided in the delivery area. The first The category order is an order that has been delivered to the delivery robot in a waiting delivery state;

确定所述配送区域内的至少一个电梯的状态信息；Determine the status information of at least one elevator in the distribution area;

根据所述电梯的状态信息和所述配送机器人的状态信息对所述配送机器人进行调度。Dispatch the distribution robot according to the status information of the elevator and the distribution robot.

进一步地，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；Further, the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

根据所述电梯的状态信息和处于等待交付状态的所述配送机器人的状态信息对所述配送机器人进行调度包括：Scheduling the distribution robot according to the state information of the elevator and the state information of the distribution robot in a state of waiting for delivery includes:

根据所述电梯的状态信息确定所述电梯的预计等待时间；Determine the estimated waiting time of the elevator according to the status information of the elevator;

根据所述剩余送达时间和所述预计等待时间对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a state of waiting for delivery according to the remaining delivery time and the expected waiting time.

进一步地，根据所述剩余送达时间和所述电梯的状态信息对所述配送机器人进行调度包括：Further, scheduling the distribution robot according to the remaining delivery time and the status information of the elevator includes:

获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间；Obtaining the estimated movement time of the distribution robot moving from the delivery point to the parking position of the elevator;

响应于所述剩余送达时间与所述预计等待时间的差值大于所述预计移动时间，控制所述配送机器人继续保持等待交付状态。In response to the difference between the remaining delivery time and the estimated waiting time being greater than the estimated moving time, the delivery robot is controlled to continue to wait for delivery.

进一步地，所述电子设备用于进一步实现如下步骤：Further, the electronic device is used to further implement the following steps:

获取收货地址在配送区域内的第二类订单，所述第二类订单为配送人员在配送中的订单；Obtain the second order of the delivery address in the delivery area, where the second order is the order of the delivery personnel in the delivery;

确定所述第二类订单的配送人员到达所述配送区域的交付点的预计到达时间；Determine the estimated arrival time of the delivery personnel of the second order to the delivery point of the delivery area;

所述根据所述电梯的状态信息和处于等待交付状态的所述配送机器人的状态信息对所述配送机器人进行调度包括：The scheduling of the distribution robot according to the state information of the elevator and the state information of the distribution robot in a state of waiting for delivery includes:

根据所述电梯的状态信息、所述预计到达时间和处于等待交付状态的所述配送机器人的状态信息和对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a waiting delivery state based on the elevator state information, the estimated arrival time, and the delivery robot's delivery waiting status.

进一步地，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；Further, the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

所述根据所述电梯的状态信息、所述预计到达时间和所述配送机器人的状态信息对所述配送机器人进行调度包括：The scheduling of the distribution robot according to the status information of the elevator, the estimated arrival time and the status information of the distribution robot includes:

根据所述电梯的状态信息确定所述电梯的预计等待时间；Determine the estimated waiting time of the elevator according to the status information of the elevator;

根据所述剩余送达时间、所述预计等待时间和所述预计到达时间对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a state of waiting for delivery according to the remaining delivery time, the expected waiting time, and the estimated arrival time.

进一步地，所述根据所述剩余送达时间、所述预计等待时间和所述预计到达时间对所述配送机器人进行调度包括：Further, the scheduling of the delivery robot according to the remaining delivery time, the estimated waiting time, and the estimated arrival time includes:

响应于所述预计等待时间大于所述预计到达时间且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的配送机器人并控制所述配送机器人继续保持等待交付状态。In response to the estimated waiting time being greater than the estimated arrival time and the remaining delivery time being greater than a predetermined threshold, the second type of order is assigned to a delivery robot in a state of waiting for delivery and the delivery robot is controlled to continue to wait for delivery status.

进一步地，所述响应于所述预计等待时间大于所述预计到达时间且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的所述配送机器人并控制所述配送机器人继续保持等待交付状态包括：Further, in response to the expected waiting time being greater than the estimated arrival time and the remaining delivery time being greater than a predetermined threshold, the second order is assigned to the delivery robot in a waiting delivery state and controls the location The delivery robots continue to wait for delivery including:

获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间；Obtaining the estimated movement time of the distribution robot moving from the delivery point to the parking position of the elevator;

响应于所述预计等待时间与所述预计到达时间的差值大于所述预计移动时间，且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的配送机器人并控制所述配送机器人继续保持等待交付状态。In response to the difference between the estimated waiting time and the estimated arrival time being greater than the estimated moving time, and the remaining delivery time being greater than a predetermined threshold, the second type of order is assigned to a delivery robot in a waiting delivery state And control the delivery robot to continue to wait for delivery.

进一步地，所述电子设备用于进一步实现如下步骤：Further, the electronic device is used to further implement the following steps:

获取处于配送状态的配送机器人的状态信息，所述状态信息包括所述配送机器人的位置和配送中的订单的目标地址；Obtain the status information of the delivery robot in the delivery state, where the status information includes the position of the delivery robot and the target address of the order in delivery;

根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度。Dispatch the elevator according to the status information of the distribution robot and the status information of the elevator.

进一步地，根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度包括：Further, scheduling the elevator according to the state information of the distribution robot and the state information of the elevator includes:

确定所述电梯的多种运行组合方式；Determine the multiple operation combinations of the elevator;

对于不同的运行组合方式，根据至少一个所述配送机器人的位置、配送中的订单的目标地址以及电梯当前位置分别计算效率参数；For different operation combinations, the efficiency parameters are calculated according to the position of at least one of the distribution robots, the target address of the order in the distribution, and the current position of the elevator;

选取效率参数最优的运行组合方式对电梯进行调度。Select the optimal operation combination mode of the efficiency parameter to dispatch the elevator.

进一步地，根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度包括：Further, scheduling the elevator according to the state information of the distribution robot and the state information of the elevator includes:

以至少一个所述配送机器人的位置、所述配送中的订单的目标地址以及所述电梯当前位置为约束条件，通过最优化方法规划电梯的运行组合方式。Taking the position of at least one of the distribution robots, the target address of the order in the distribution, and the current position of the elevator as constraints, the elevator operation combination mode is planned through an optimization method.

具体地，该电子设备包括：一个或多个处理器1001以及存储器1002，图10中以一个处理器1001为例。处理器1001、存储器1002可以通过总线或者其他方式连接，图10中以通过总线连接为例。存储器1002作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块。处理器1001通过运行存储在存储器1002中的非易失性软件程序、指令以及模块，从而执行设备的各种功能应用以及数据处理，即实现上述调度方法。Specifically, the electronic device includes: one or more processors 1001 and a memory 1002. In FIG. 10, one processor 1001 is used as an example. The processor 1001 and the memory 1002 may be connected through a bus or in other ways. In FIG. 10, the connection through a bus is used as an example. The memory 1002 is a non-volatile computer-readable storage medium and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules. The processor 1001 executes various functional applications and data processing of the device by running non-volatile software programs, instructions, and modules stored in the memory 1002, that is, implementing the foregoing scheduling method.

存储器1002可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储选项列表等。此外，存储器1002可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器1002可选包括相对于处理器1001远程设置的存储器，这些远程存储器可以通过网络连接至外接设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory 1002 may include a storage program area and a storage data area, wherein the storage program area may store an operating system and application programs required for at least one function; the storage data area may store a list of options, and the like. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 1002 may optionally include memories set remotely with respect to the processor 1001, and these remote memories may be connected to an external device through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

一个或者多个模块存储在存储器1002中，当被一个或者多个处理器1001执行时，执行上述任意方法实施例中的调度方法。One or more modules are stored in the memory 1002, and when executed by one or more processors 1001, execute the scheduling method in any of the above method embodiments.

上述产品可执行本申请实施例所提供的调度方法，具备执行方法相应的功能模块和有益效果，未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的调度方法。The above products can execute the scheduling method provided by the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the scheduling method provided by the embodiments of the present application.

本发明实施例通过获取配送区域内至少一个配送机器人的状态信息，并确定所述配送区域内的至少一个电梯的状态信息，进而根据所述配送机器人的状态信息和所述 电梯的状态信息对所述配送机器人进行调度。由此，能够以较优的方式完成配送机器人的调度，从而提升配送过程的效率，降低配送机器人的配送成本。In the embodiment of the present invention, the status information of at least one distribution robot in the distribution area is obtained, and the status information of at least one elevator in the distribution area is determined. The distribution robot performs scheduling. As a result, the scheduling of the delivery robot can be completed in an optimal manner, thereby improving the efficiency of the delivery process and reducing the delivery cost of the delivery robot.

本发明的第六实施例涉及一种非易失性存储介质，用于存储计算机可读程序，所述计算机可读程序用于供计算机执行上述部分或全部的调度方法实施例。The sixth embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program, the computer-readable program being used for a computer to execute some or all of the foregoing scheduling method embodiments.

即，本领域技术人员可以理解，实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。That is, those skilled in the art can understand that all or part of the steps in the method in the above embodiments can be completed by instructing relevant hardware through a program, which is stored in a storage medium and includes several instructions to make a device ( It may be a single chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

本领域的普通技术人员可以理解，上述各实施例是实现本发明的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本发明的精神和范围。A person of ordinary skill in the art can understand that the above-mentioned embodiments are specific embodiments for realizing the present invention, and in actual applications, various changes can be made in form and details without departing from the spirit and spirit of the present invention. range.

Claims (22)

1. 一种调度方法，其特征在于，所述方法包括：A scheduling method, characterized in that the method includes:

   获取处于等待交付状态的配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单；Obtain the status information of the delivery robot in the waiting-for-delivery state, where the status information includes information of the first type of order, and at least one delivery robot for receiving a delivery target from the delivery point and delivering to the target address is provided in the delivery area , The first order is an order that has been delivered to the delivery robot in a state of waiting for delivery;

   确定所述配送区域内的至少一个电梯的状态信息；Determine the status information of at least one elevator in the distribution area;

   根据所述电梯的状态信息和所述配送机器人的状态信息对所述配送机器人进行调度。Dispatch the distribution robot according to the status information of the elevator and the distribution robot.
2. 根据权利要求1所述的调度方法，其特征在于，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；The scheduling method according to claim 1, wherein the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

   根据所述电梯的状态信息和处于等待交付状态的所述配送机器人的状态信息对所述配送机器人进行调度包括：Scheduling the distribution robot according to the state information of the elevator and the state information of the distribution robot in a state of waiting for delivery includes:

   根据所述电梯的状态信息确定所述电梯的预计等待时间；Determine the estimated waiting time of the elevator according to the status information of the elevator;

   根据所述剩余送达时间和所述预计等待时间对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a state of waiting for delivery according to the remaining delivery time and the expected waiting time.
3. 根据权利要求2所述的调度方法，其特征在于，根据所述剩余送达时间和所述电梯的状态信息对处于等待交付状态的所述配送机器人进行调度包括：The dispatching method according to claim 2, wherein the dispatching of the delivery robot in a state of waiting for delivery according to the remaining delivery time and the status information of the elevator includes:

   获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间；Obtaining the estimated movement time of the distribution robot moving from the delivery point to the parking position of the elevator;

   响应于所述剩余送达时间与所述预计等待时间的差值大于所述预计移动时间，控制所述配送机器人继续保持等待交付状态。In response to the difference between the remaining delivery time and the estimated waiting time being greater than the estimated moving time, the delivery robot is controlled to continue to wait for delivery.
4. 根据权利要求1所述的调度方法，其特征在于，所述方法还包括：The scheduling method according to claim 1, wherein the method further comprises:

   获取收货地址在配送区域内的第二类订单，所述第二类订单为配送人员在配送中的订单；Obtain the second order of the delivery address in the delivery area, where the second order is the order of the delivery personnel in the delivery;

   确定所述第二类订单的配送人员到达所述配送区域的交付点的预计到达时间；Determine the estimated arrival time of the delivery personnel of the second order to the delivery point of the delivery area;

   所述根据所述电梯的状态信息和处于等待交付状态的所述配送机器人的状态信息对所述配送机器人进行调度包括：The scheduling of the distribution robot according to the state information of the elevator and the state information of the distribution robot in a state of waiting for delivery includes:

   根据所述电梯的状态信息、所述预计到达时间和处于等待交付状态的所述配送机器人的状态信息和对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a waiting delivery state based on the elevator state information, the estimated arrival time, and the delivery robot's delivery waiting status.
5. 根据权利要求4所述的调度方法，其特征在于，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；The scheduling method according to claim 4, wherein the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

   所述根据所述电梯的状态信息、所述预计到达时间和所述配送机器人的状态信息对所述配送机器人进行调度包括：The scheduling of the distribution robot according to the status information of the elevator, the estimated arrival time and the status information of the distribution robot includes:

   根据所述电梯的状态信息确定所述电梯的预计等待时间；Determine the estimated waiting time of the elevator according to the status information of the elevator;

   根据所述剩余送达时间、所述预计等待时间和所述预计到达时间对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a state of waiting for delivery according to the remaining delivery time, the expected waiting time, and the estimated arrival time.
6. 根据权利要求5所述的调度方法，其特征在于，所述根据所述剩余送达时间、所述预计等待时间和所述预计到达时间对处于等待交付状态的所述配送机器人进行调度包括：The scheduling method according to claim 5, wherein the scheduling of the delivery robot in a waiting-for-delivery state according to the remaining delivery time, the estimated waiting time, and the estimated arrival time includes:

   响应于所述预计等待时间大于所述预计到达时间且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的所述配送机器人并控制所述配送机器人继续保持等待交付状态。In response to the estimated waiting time being greater than the estimated arrival time and the remaining delivery time being greater than a predetermined threshold, the second order is assigned to the delivery robot in the waiting-for-delivery state and the delivery robot is controlled to continue to be maintained Waiting for delivery status.
7. 根据权利要求6所述的调度方法，其特征在于，所述响应于所述预计等待时间大于所述预计到达时间且所述剩余送达时间大于预定阈值，将所述第二类订单指派 给处于等待交付状态的所述配送机器人并控制所述配送机器人继续保持等待交付状态包括：The scheduling method according to claim 6, wherein in response to the estimated waiting time being greater than the estimated arrival time and the remaining delivery time being greater than a predetermined threshold, the second order is assigned to The delivery robot waiting for delivery and controlling the delivery robot to continue to wait for delivery include:

   获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间；Obtaining the estimated movement time of the distribution robot moving from the delivery point to the parking position of the elevator;

   响应于所述预计等待时间与所述预计到达时间的差值大于所述预计移动时间，且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的所述配送机器人并控制所述配送机器人继续保持等待交付状态。In response to the difference between the estimated waiting time and the estimated arrival time being greater than the estimated moving time, and the remaining delivery time being greater than a predetermined threshold, the second type of order is assigned to the pending delivery state Distribute the robot and control the robot to continue to wait for delivery.
8. 根据权利要求1所述的调度方法，其特征在于，所述方法还包括：The scheduling method according to claim 1, wherein the method further comprises:

   获取处于配送状态的配送机器人的状态信息，所述状态信息包括所述配送机器人的位置和配送中的订单的目标地址；Obtain the status information of the delivery robot in the delivery state, where the status information includes the position of the delivery robot and the target address of the order in delivery;

   根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度。Dispatch the elevator according to the status information of the distribution robot and the status information of the elevator.
9. 根据权利要求8所述的调度方法，其特征在于，根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度包括：The scheduling method according to claim 8, wherein scheduling the elevator according to the state information of the distribution robot and the state information of the elevator includes:

   确定所述电梯的多种运行组合方式；Determine the multiple operation combinations of the elevator;

   对于不同的运行组合方式，根据至少一个所述配送机器人的位置、配送中的订单的目标地址以及电梯当前位置分别计算效率参数；For different operation combinations, the efficiency parameters are calculated according to the position of at least one of the distribution robots, the target address of the order in the distribution, and the current position of the elevator;

   选取效率参数最优的运行组合方式对电梯进行调度。Select the optimal operation combination mode of the efficiency parameter to dispatch the elevator.
10. 根据权利要求8所述的调度方法，其特征在于，根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度包括：The scheduling method according to claim 8, wherein scheduling the elevator according to the state information of the distribution robot and the state information of the elevator includes:

    以至少一个所述配送机器人的位置、所述配送中的订单的目标地址以及所述电梯当前位置为约束条件，通过最优化方法规划电梯的运行组合方式。Taking the position of at least one of the distribution robots, the target address of the order in the distribution, and the current position of the elevator as constraints, the elevator operation combination mode is planned through an optimization method.
11. 一种调度装置，其特征在于，所述装置包括：A scheduling device, characterized in that the device includes:

    第一获取单元，用于获取处于等待交付状态的配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单；The first acquiring unit is used to acquire the status information of the delivery robot in the waiting-for-delivery state, the status information includes information of the first order, and at least one for receiving the delivery target from the delivery point and delivering to the delivery area is provided in the delivery area For the delivery robot at the target address, the first type of order is an order that has been delivered to the delivery robot in a waiting delivery state;

    第一确定单元，用于确定所述配送区域内的至少一个电梯的状态信息；A first determining unit, configured to determine the status information of at least one elevator in the distribution area;

    第一调度单元，用于根据所述电梯的状态信息和所述配送机器人的状态信息对处于等待交付状态的所述配送机器人进行调度。The first dispatching unit is configured to dispatch the delivery robot in a waiting-for-delivery state based on the elevator state information and the delivery robot state information.
12. 一种计算机可读存储介质，其上存储计算机程序指令，其特征在于，所述计算机程序指令在被处理器执行时实现如权利要求1-10中任一项所述的方法。A computer-readable storage medium on which computer program instructions are stored, characterized in that, when executed by a processor, the computer program instructions implement the method according to any one of claims 1-10.
13. 一种电子设备，包括存储器和处理器，其特征在于，所述存储器用于存储一条或多条计算机程序指令，其中，所述一条或多条计算机程序指令被所述处理器执行以实现如下步骤：An electronic device includes a memory and a processor, wherein the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the following steps :

    获取处于等待交付状态的配送机器人的状态信息，所述状态信息包括第一类订单的信息，在配送区域内设置有至少一个用于从交付点接收配送目标并配送到目标地址的所述配送机器人，所述第一类订单为已交付给处于等待交付状态的所述配送机器人的订单；Obtain the status information of the delivery robot in the waiting-for-delivery state, where the status information includes information of the first type of order, and at least one delivery robot for receiving a delivery target from the delivery point and delivering to the target address is provided in the delivery area , The first order is an order that has been delivered to the delivery robot in a state of waiting for delivery;

    确定所述配送区域内的至少一个电梯的状态信息；Determine the status information of at least one elevator in the distribution area;

    根据所述电梯的状态信息和所述配送机器人的状态信息对所述配送机器人进行调度。Dispatch the distribution robot according to the status information of the elevator and the distribution robot.
14. 根据权利要求13所述的电子设备，其特征在于，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；The electronic device according to claim 13, wherein the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

    根据所述电梯的状态信息和处于等待交付状态的所述配送机器人的状态信息对所述配送机器人进行调度包括：Scheduling the distribution robot according to the state information of the elevator and the state information of the distribution robot in a state of waiting for delivery includes:

    根据所述电梯的状态信息确定所述电梯的预计等待时间；Determine the estimated waiting time of the elevator according to the status information of the elevator;

    根据所述剩余送达时间和所述预计等待时间对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a state of waiting for delivery according to the remaining delivery time and the expected waiting time.
15. 根据权利要求14所述的电子设备，其特征在于，根据所述剩余送达时间和所述电梯的状态信息对所述配送机器人进行调度包括：The electronic device according to claim 14, wherein the dispatching of the distribution robot according to the remaining delivery time and the status information of the elevator includes:

    获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间；Obtaining the estimated movement time of the distribution robot moving from the delivery point to the parking position of the elevator;

    响应于所述剩余送达时间与所述预计等待时间的差值大于所述预计移动时间，控制所述配送机器人继续保持等待交付状态。In response to the difference between the remaining delivery time and the estimated waiting time being greater than the estimated moving time, the delivery robot is controlled to continue to wait for delivery.
16. 根据权利要求13所述的电子设备，其特征在于，所述电子设备用于进一步实现如下步骤：The electronic device according to claim 13, wherein the electronic device is used to further implement the following steps:

    获取收货地址在配送区域内的第二类订单，所述第二类订单为配送人员在配送中的订单；Obtain the second order of the delivery address in the delivery area, where the second order is the order of the delivery personnel in the delivery;

    确定所述第二类订单的配送人员到达所述配送区域的交付点的预计到达时间；Determine the estimated arrival time of the delivery personnel of the second order to the delivery point of the delivery area;

    所述根据所述电梯的状态信息和处于等待交付状态的所述配送机器人的状态信息对所述配送机器人进行调度包括：The scheduling of the distribution robot according to the state information of the elevator and the state information of the distribution robot in a state of waiting for delivery includes:

    根据所述电梯的状态信息、所述预计到达时间和处于等待交付状态的所述配送机器人的状态信息和对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a waiting delivery state based on the elevator state information, the estimated arrival time, and the delivery robot's delivery waiting status.
17. 根据权利要求16所述的电子设备，其特征在于，所述第一类订单的信息包括所述第一类订单的剩余送达时间，所述电梯的状态信息包括所述电梯的当前位置；The electronic device according to claim 16, wherein the information of the first order includes the remaining delivery time of the first order, and the status information of the elevator includes the current position of the elevator;

    所述根据所述电梯的状态信息、所述预计到达时间和所述配送机器人的状态信息对所述配送机器人进行调度包括：The scheduling of the distribution robot according to the status information of the elevator, the estimated arrival time and the status information of the distribution robot includes:

    根据所述电梯的状态信息确定所述电梯的预计等待时间；Determine the estimated waiting time of the elevator according to the status information of the elevator;

    根据所述剩余送达时间、所述预计等待时间和所述预计到达时间对处于等待交付状态的所述配送机器人进行调度。Dispatch the delivery robot in a state of waiting for delivery according to the remaining delivery time, the expected waiting time, and the estimated arrival time.
18. 根据权利要求17所述的电子设备，其特征在于，所述根据所述剩余送达时间、所述预计等待时间和所述预计到达时间对所述配送机器人进行调度包括：The electronic device according to claim 17, wherein the scheduling of the delivery robot according to the remaining delivery time, the estimated waiting time, and the estimated arrival time includes:

    响应于所述预计等待时间大于所述预计到达时间且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的配送机器人并控制所述配送机器人继续保持等待交付状态。In response to the estimated waiting time being greater than the estimated arrival time and the remaining delivery time being greater than a predetermined threshold, the second type of order is assigned to a delivery robot in a state of waiting for delivery and the delivery robot is controlled to continue to wait for delivery status.
19. 根据权利要求18所述的电子设备，其特征在于，所述响应于所述预计等待时间大于所述预计到达时间且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的所述配送机器人并控制所述配送机器人继续保持等待交付状态包括：The electronic device of claim 18, wherein in response to the estimated waiting time being greater than the estimated arrival time and the remaining delivery time being greater than a predetermined threshold, the second type of order is assigned to The delivery robot waiting for delivery and controlling the delivery robot to continue to wait for delivery include:

    获取所述配送机器人从所述交付点移动到所述电梯的停靠位置的预计移动时间；Obtaining the estimated movement time of the distribution robot moving from the delivery point to the parking position of the elevator;

    响应于所述预计等待时间与所述预计到达时间的差值大于所述预计移动时间，且所述剩余送达时间大于预定阈值，将所述第二类订单指派给处于等待交付状态的配送机器人并控制所述配送机器人继续保持等待交付状态。In response to the difference between the estimated waiting time and the estimated arrival time being greater than the estimated moving time, and the remaining delivery time being greater than a predetermined threshold, the second type of order is assigned to a delivery robot in a waiting delivery state And control the delivery robot to continue to wait for delivery.
20. 根据权利要求13所述的电子设备，其特征在于，所述电子设备用于进一步实现如下步骤：The electronic device according to claim 13, wherein the electronic device is used to further implement the following steps:

    获取处于配送状态的配送机器人的状态信息，所述状态信息包括所述配送机器人的位置和配送中的订单的目标地址；Obtain the status information of the delivery robot in the delivery state, where the status information includes the position of the delivery robot and the target address of the order in delivery;

    根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度。Dispatch the elevator according to the status information of the distribution robot and the status information of the elevator.
21. 根据权利要求20所述的电子设备，其特征在于，根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度包括：The electronic device according to claim 20, wherein scheduling the elevator according to the status information of the distribution robot and the status information of the elevator includes:

    确定所述电梯的多种运行组合方式；Determine multiple operating combinations of the elevator;

    对于不同的运行组合方式，根据至少一个所述配送机器人的位置、配送中的订单 的目标地址以及电梯当前位置分别计算效率参数；For different operation combination modes, the efficiency parameters are calculated respectively according to the position of at least one of the distribution robots, the target address of the order in the distribution, and the current position of the elevator;

    选取效率参数最优的运行组合方式对电梯进行调度。Select the optimal operation combination mode of the efficiency parameter to dispatch the elevator.
22. 根据权利要求20所述的电子设备，其特征在于，根据所述配送机器人的状态信息和所述电梯的状态信息对所述电梯进行调度包括：The electronic device according to claim 20, wherein scheduling the elevator according to the status information of the distribution robot and the status information of the elevator includes:

    以至少一个所述配送机器人的位置、所述配送中的订单的目标地址以及所述电梯当前位置为约束条件，通过最优化方法规划电梯的运行组合方式。Taking the position of at least one of the distribution robots, the target address of the order in the distribution, and the current position of the elevator as constraints, the elevator operation combination mode is planned through an optimization method.

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