CN110110923A - A kind of order allocation method and device - Google Patents
A kind of order allocation method and device Download PDFInfo
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- CN110110923A CN110110923A CN201910367869.2A CN201910367869A CN110110923A CN 110110923 A CN110110923 A CN 110110923A CN 201910367869 A CN201910367869 A CN 201910367869A CN 110110923 A CN110110923 A CN 110110923A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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Abstract
This application provides a kind of order allocation method and devices, wherein this method comprises: obtaining the current state information that each candidate sends robot with charge free after receiving article order information；The current state information for sending robot with charge free according to each candidate of acquisition is sent with charge free from each candidate and selects target in robot and send robot with charge free；Target based on selection sends robot with charge free and carries out sending with charge free for article order.Using the above scheme, robot is sent with charge free using the target of selection and carry out sending with charge free for article order, avoid and carry out sending the high problem of existing human cost with charge free using manual type, while realizing that intelligence is sent with charge free, and improve the efficiency sent with charge free.
Description
Technical field
This application involves technical field is sent with charge free automatically, in particular to a kind of order allocation method and device.
Background technique
It applies currently, article is sent with charge free in each application field.For example, in hotel, for the included service item in hotel
For, generally require to send the guest of lodging with charge free article needed for it, such as towel, bathrobe, and the transport in relation to article, at present all
It is to be completed by the staff in hotel；For another example, within the hospital, for some patients being hospitalized, drug station is needed patient's
Drug is transported in the ward of patient, and the transport for drug, is completed by the staff of hospital at present.
It is sent with charge free as it can be seen that manual type is mostly used to carry out article greatly in the related technology, this will expend a large amount of manpower, and send with charge free
Efficiency it is lower.
Summary of the invention
In view of this, the application's is designed to provide a kind of order allocation method and device, to realize that intelligence is sent with charge free
While, improve the efficiency that article is sent with charge free.
In a first aspect, this application provides a kind of order allocation methods, which comprises
After receiving article order information, the current state information that each candidate sends robot with charge free is obtained；
The current state information for sending robot with charge free according to each candidate of acquisition is sent with charge free in robot from each candidate and is chosen
Target sends robot with charge free out；
Target based on selection sends robot with charge free and carries out sending with charge free for article order.
With reference to first aspect, this application provides the first possible embodiments of first aspect, wherein the basis
The each candidate obtained sends the current state information of robot with charge free, sends with charge free from each candidate and selects target distributer in robot
Device people, comprising:
Send the current state information of robot with charge free according to each candidate of acquisition, it is determined whether there are current states for
The candidate for the charging pile charging that counter includes sends robot with charge free；
If it exists, then determining candidate is sent with charge free robot as target send robot with charge free；
The target based on selection sends robot with charge free and carries out sending with charge free for article order, comprising:
The target is generated according to the article order information received send the first article of robot with charge free send instruction with charge free；It is described
First article is sent with charge free in instruction and at least carries the corresponding destination locations information of article order information；
It sends first article with charge free instruction and is sent to the target and send robot with charge free, so that the target sends robot with charge free
Send article order current location as corresponding to the counter with charge free destination locations.
The possible embodiment of with reference to first aspect the first, second this application provides first aspect are possible
Embodiment, wherein the method also includes:
Current state is that the candidate for the charging pile charging for just including sends robot with charge free in counter if it does not exist, it is determined whether
It is that the candidate being in idle condition sends robot with charge free there are current state；
If it exists, then robot is sent with charge free for each candidate that current state is in idle condition, obtain the candidate and send with charge free
Range information of the robot apart from counter；
The candidate nearest apart from the counter is sent with charge free robot as target and sends robot with charge free.
The possible embodiment of with reference to first aspect the first, the third this application provides first aspect are possible
Embodiment, wherein the method also includes:
Current state is that the candidate for the charging pile charging for just including sends robot with charge free in counter if it does not exist, then obtains each
Candidate sends range information of the robot apart from counter with charge free；
Current state is in idle condition and the candidate nearest apart from the counter sends robot with charge free as target and send with charge free
Robot.
The possible embodiment of second with reference to first aspect or the third possible embodiment, this application provides
4th kind of possible embodiment of first aspect, wherein the target based on selection sends robot with charge free and carries out article order
Send with charge free, comprising:
The target is generated according to the article order information received send the second article of robot with charge free send instruction with charge free；It is described
Second article is sent with charge free in instruction and at least carries the corresponding counter location information of article order information and destination locations information；
It sends second article with charge free instruction and is sent to the target and send robot with charge free, so that the target sends robot with charge free
First article order is sent with charge free counter position by the current location that the target sends robot with charge free, then is sent with charge free by the counter position
Destination locations.
The 4th kind of possible embodiment with reference to first aspect, the 5th kind this application provides first aspect are possible
Embodiment, wherein send robot with charge free in the target and send article order by the current location that the target sends robot with charge free with charge free
To before counter position, further includes:
The target sends the charging pile that robot includes to counter with charge free and sends state lock instruction, so that the counter includes
Charging pile according to the state lock instruction carry out state locking；
After the completion of state locking, generates and the current location of robot is sent with charge free to the path planning of counter position by the target
Information；
The target sends robot with charge free and sends article order with charge free counter position by the current location that the target sends robot with charge free
It sets, comprising:
The article order is sent with charge free by the current location that the target sends robot with charge free according to the route planning information
Counter position.
With reference to first aspect, this application provides the 6th kind of possible embodiments of first aspect, wherein it is described from
Each candidate, which sends with charge free, to be selected in robot before target sends robot with charge free, further includes:
Obtain the range information that each candidate sends robot with charge free apart from counter；
Described send with charge free from each candidate selects target and sends robot with charge free in robot, comprising:
Range information and each candidate of the robot apart from counter are sent with charge free according to each candidate of acquisition sends robot with charge free
Current state information, sent with charge free from each candidate and select target in robot and send robot with charge free.
With reference to first aspect, this application provides the 7th kind of possible embodiments of first aspect, wherein in the base
It is sent with charge free after robot carries out the sending with charge free of article order in the target of selection, further includes:
Determine the target send with charge free robot at a distance from counter be less than set distance after, judge that the counter includes
Charging pile whether be in the lock state；The counter is for providing article corresponding to article order information；
If so, obtaining the information of charging pile for the other charging piles being in idle condition, and believed according to the charging pile of acquisition
The breath control target sends robot with charge free and is back to corresponding other charging piles；
The charging pile that the counter includes is back to if it is not, then controlling the target and sending robot with charge free.
Second aspect, present invention also provides a kind of Order splitting device, described device includes:
Module is obtained, sends the current shape of robot with charge free for after receiving article order information, obtaining each candidate
State information；
Module is chosen, sends the current state information of robot with charge free for each candidate according to acquisition, from each candidate group
It send and selects target in robot and send robot with charge free；
Dispatch module sends robot with charge free for the target based on selection and carries out sending with charge free for article order.
The third aspect, present invention also provides a kind of computer readable storage medium, on the computer readable storage medium
It is stored with computer program, executing the first of first aspect, first aspect such as when which is run by processor can
The step of embodiment order allocation method described in any possible embodiment into the 7th kind of possible embodiment of energy
Suddenly.
Using the above scheme, after receiving article order information, each candidate is obtained first and sends the current of robot with charge free
Status information, each candidate for being then based on acquisition send the current state information of robot with charge free, send robot with charge free from each candidate
In select target and send robot with charge free, finally the target based on selection sends robot with charge free and carries out sending with charge free for article order.Using upper
Scheme is stated, robot is sent with charge free using the target of selection and carries out sending with charge free for article order, avoid and sent with charge free using manual type
The high problem of existing human cost also improves the efficiency sent with charge free while realizing that intelligence is sent with charge free.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of order allocation method provided by the embodiment of the present application；
Fig. 2 shows the flow charts of another kind order allocation method provided by the embodiment of the present application；
Fig. 3 shows a kind of schematic diagram that distance calculates provided by the embodiment of the present application；
Fig. 4 shows the flow chart of another kind order allocation method provided by the embodiment of the present application；
Fig. 5 shows a kind of structural schematic diagram of Order splitting device provided by the embodiment of the present application；
Fig. 6 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
Consideration mostly uses greatly manual type to carry out article in the related technology and sends with charge free, this will expend a large amount of manpower, and send with charge free
Efficiency it is lower.In view of this, the embodiment of the present application provides a kind of order allocation method and device, to realize that intelligence is sent with charge free
While, the efficiency that article is sent with charge free is improved, is described below by embodiment.
As shown in Figure 1, being the flow chart of order allocation method provided by the embodiments of the present application, it is applied to electronic equipment, it should
Electronic equipment can be the processing module being arranged in server either server, which can carry out with article counter
Communication, can also be communicated, the above order distribution method includes the following steps: with robot is sent with charge free
S101, after receiving article order information, obtain the current state information that each candidate sends robot with charge free.
Here, above-mentioned article order information can be the order information in relation to article, which mainly may include
The destination locations information etc. that the mark of article, the quantity of article, article are sent with charge free can also include other relevant informations.Above-mentioned object
Product order information can be what user was generated after shopping mall website places an order using user terminal, can also be user in store using journey
What sequence (Application, APP) generated after placing an order, the embodiment of the present application does not do specific limitation to this.Wherein, above-mentioned user
End, which can be computer client, can also be user terminal (such as mobile phone, tablet computer), and the embodiment of the present application is not done this specifically
Limitation.
The embodiment of the present application just needs to obtain each candidate and sends robot with charge free after determination receives article order information
Current state information.Wherein, the candidate quantity for sending robot with charge free can be pre-configured for target container, be also possible to
Demand dynamic change is sent with charge free with to target container.The current state information that related candidate sends robot with charge free then can be place
In the working condition that order is sent with charge free, it can also be and can also be the state in charging in the idle state without sending with charge free, this
Application embodiment can use charging pile included by target container and charge, be also based on the charging pile that is separately provided into
Row charging.Wherein, above-mentioned target container can be the counter that can satisfy above-mentioned article order demand.
In specific application, each candidate send robot with charge free can be in real time or according to prefixed time interval by the state of itself
Information reporting is to server, so that server can learn that each candidate sends the current working status of robot with charge free to carry out most preferably
Robot scheduling.
S102, the current state information for sending robot with charge free according to each candidate of acquisition send robot with charge free from each candidate
In select target and send robot with charge free.
Here, it is contemplated that a candidate in the embodiment of the present application sends any that robot may be in various states with charge free
State, different candidates send robot with charge free again and may be at different states, send with charge free for the ease of carrying out article, the embodiment of the present application
The current state information that can be sent with charge free robot based on each candidate is sent with charge free from each candidate and selects target in robot and send with charge free
Robot, which, which sends robot with charge free and can be the candidate to charge on charging pile included by target container, sends machine with charge free
People can also be that the closer candidate of distance objective counter sends robot with charge free, can also be other targets for meeting the demand of sending with charge free
Send robot with charge free.
S103, the target based on selection send robot with charge free and carry out sending with charge free for article order.
Here, after selection sends robot with charge free to target, robot can be sent with charge free based on the target of selection and carry out article
Order is sent with charge free.In the embodiment of the present application, when target sends robot with charge free and receives article order, if target sends robot with charge free
It charges on charging pile just included by target container, then needs lower stake picking, and article order is dispatched into destination locations；?
When target sends robot with charge free and receives article order, if target is sent robot with charge free in the charging pile charging being separately provided or is in
When idle state, then can first automatic path planning, the current location by sending robot with charge free is travelled to target container, in target goods
After completing picking at cabinet, then article order is dispatched into destination locations.
By taking hotel does shopping as an example, after user is placed an order using user terminal, as user placed an order two bottles of pure water, three guarantees bubble
Face；Server can be determined to meet the target container of article order demand first, then send robot with charge free from each candidate
In select target and send robot with charge free, then send robot with charge free using the target selected and target container gone to connect goods, that is, be connected to two
Bottle pure water, three guarantees steep face, finally recycle target send with charge free robot by be connected to two bottles of pure water, three guarantees bubble face send with charge free with
The destination locations (room where such as user) that family determines, can be completed sending with charge free for this article order.
In the embodiment of the present application, the selection side that target sends robot with charge free is carried out according to the current state that candidate sends robot with charge free
There are two method is main, this sends the charging modes of robot with charge free dependent on candidate, and in the embodiment of the present application, candidate sends robot with charge free can
It to be charged using the charging pile set in counter, is also based on the charging pile being separately provided and charges, next respectively
It is illustrated.
It is right in the embodiment of the present application for this case that can use charging pile included by counter and charged
It is done as described below according to the choosing method that the current state progress target that candidate sends robot with charge free sends robot with charge free.
As shown in Fig. 2, be the flow chart for the choosing method that a kind of target provided by the embodiments of the present application sends robot with charge free, on
Choosing method is stated to specifically comprise the following steps:
S201, the current state information for sending robot with charge free according to each candidate of acquisition, it is determined whether there are current states
Candidate for the charging pile charging for just including in counter sends robot with charge free；
S202, if it exists, then send determining candidate with charge free robot as target and send robot with charge free；
S203, instruction is sent with charge free according to the first article that the article order information generation target received sends robot with charge free；The
One article is sent with charge free in instruction and at least carries the corresponding destination locations information of article order information；
S204, it sends the first article with charge free instruction and is sent to target and send robot with charge free, so that target sends robot with charge free for article
Send destination locations with charge free in order current location as corresponding to counter.
Here, in order to further enhance connecing goods efficiency, on counter provided by the embodiments of the present application can within be equipped with charging pile,
It can also can carry out connecing goods faster while charging on the counter to send robot with charge free.
In the embodiment of the present application, the current state information of robot can be sent with charge free according to each candidate of acquisition first, really
Surely robot is sent with charge free with the presence or absence of the candidate that current state is the charging pile charging for just including in counter, and can exist determining
Current state is to send the candidate with charge free robot as mesh just when the candidate of charging pile that counter includes charging sends robot with charge free
Mark sends robot with charge free, then sends the first article that the target generated according to the article order information received sends robot with charge free with charge free
Instruction is sent to target and sends robot with charge free so that the target send with charge free robot can be detached from the connection of the charging pile of counter it
Afterwards, article order is sent with charge free destination locations.
Here, target sends why robot can will extract and article order information matched article from counter with charge free
It sends destination locations with charge free and depends primarily on the route pre-established, that is, determining that target sends machine with charge free and be artificially in
After the candidate of counter charging pile charging sends robot with charge free, the present bit of robot can be sent with charge free using the position of counter as target
It sets, and can establish by the route of current location to destination locations, article is carried out with the route based on foundation and is sent with charge free.
Here, the planning in relation to route can be target and send robot with charge free after knowing destination locations, according to itself
What the map of carrying was planned automatically.In the embodiment of the present application, above-mentioned map, which can be, to be sent robot with charge free and is swept by laser sensor
The two-dimensional surface point diagram for retouching generation, after map foundation, counter corresponding point can be have been marked in advance in map.
In this way, target, which sends robot with charge free, (can correspond to target distributer based on counter positioning is carried out with the map for marking better position
The current location of device people), path planning is carried out based on position location and destination locations, and can be based on airmanship according to planning
Route travelled by position location to destination locations.
Based on above content it is found that the embodiment of the present application can be sent with charge free based on the target connected on the charging pile that counter includes
Robot carries out sending with charge free for article order, when sending robot with charge free there is no the candidate of charging on charging pile, the embodiment of the present application
It provides and a kind of the current state information of robot is sent with charge free based on candidate and range information apart from counter realizes target distributer
The method that device person takes.
In the embodiment of the present application, it on the one hand can first determine that the candidate being in idle condition sends robot with charge free, then from determination
Candidate send with charge free to select the candidate for meeting required distance in robot and send robot with charge free as target and send robot, another party with charge free
Face can also be directly based upon current state information and range information carries out the selection that target sends robot with charge free.Next it is divided to two sides
Face is specifically described.
First aspect: being just to fill in the charging pile that counter includes determining there is no current state in the embodiment of the present application
When the candidate of electricity sends robot with charge free, may first determine whether to be that the candidate being in idle condition sends machine with charge free there are current state
People, however, it is determined that there is the candidate being in idle condition and sends robot with charge free, then each time being in idle condition for current state
It selects and appoints and send robot, obtain the range information that the candidate sends robot with charge free apart from counter, then by the candidate nearest apart from counter
Robot is sent with charge free as target and sends robot with charge free.
Robot is sent with charge free it is worth noting that can be with the map for marking better position and be shared on all candidates, this
Sample, each candidate sends machine with charge free per capita can be according to the determining range information apart from counter of the map for being labeled with counter.The application
In embodiment, it can use gridding method and determine range information.Next it is illustrated with a specific example, it first will be whole
A map carries out rasterizing, and related barrier is labeled in grid on map, as shown in figure 3, not carrying out apart from mark
Space is barrier position, in this way, the space where it first can be set to 0, then base after determining counter position
Matching result between laser sensor current scanning result and map determine candidate send with charge free robot current location it is (right
Should be labeled as 10 space), the last executive path search since counter position, searched on mark in each space away from
From, when search it is candidate send the current location of robot with charge free when, indicates that path can reach counter position, at this point, marking
10 indicate that candidate sends range information of the robot apart from counter with charge free.
Second aspect: being just to fill in the charging pile that counter includes determining there is no current state in the embodiment of the present application
When the candidate of electricity sends robot with charge free, the range information that each candidate sends robot with charge free apart from counter can be directly acquired, then will
Current state is in idle condition and the candidate nearest apart from counter sends robot with charge free as target and send robot with charge free.
Wherein, related candidate sends robot and the range information of counter with charge free and can be determined according to the method described above, herein
It repeats no more.
In the embodiment of the present application, either first determine that idle candidate sends robot with charge free and determines that target is sent with charge free further according to distance
Robot, is also based on directly on range information and status information determines that target sends robot with charge free, is required to target and sends robot with charge free
It first reaches counter position and carries out picking, then cargo is transported by counter position to destination locations.
Here, server can generate the second article group that target sends robot with charge free according to the article order information received
Instruction is sent, then second article is sent with charge free instruction and is sent to target and send robot with charge free so that target sends robot with charge free according to second
Article sends the corresponding counter location information of article order information carried in instruction with charge free and destination locations information carries out path planning.
That is, the target in the embodiment of the present application sends the path planning that robot not only needs to carry out current location to counter position with charge free,
It also needs the target to send robot with charge free after counter picking, carries out the path planning of counter position to destination locations.Wherein, related
The path planning of current location to counter position and robot can be based on by the path planning of counter position to destination locations
Path Planning Technique and robot obstacle-avoiding technology are realized, do not do specific limitation herein.
In the embodiment of the present application, after being determined that target sends robot with charge free, which sends robot with charge free can be to counter packet
The charging pile included sends state lock instruction, so that the charging pile that counter includes carries out state locking according to state lock instruction,
After the completion of state locking, generates and route planning information of the current location of robot to counter position, root are sent with charge free by the target
Article order is sent with charge free counter position by the current location that the target sends robot with charge free according to route planning information.
Here, primarily to avoid it is other send with charge free robot target may be sent with charge free robot to send bring with charge free dry
It disturbs, the state locking of charging pile is just carried out before going counter picking, state solution can be carried out in picking and after completing delivery
Lock.In addition, if it is to be in the charging of charging pile included by other counters or independent before picking that target, which sends robot with charge free,
In the state of the charging pile charging of setting, corresponding charging pile can be carried out to states thereof so that other robots that send with charge free carry out
Charging, so that it is guaranteed that each candidate sends the charge requirement of robot with charge free.
For this case that can use the charging pile being separately provided and charged, in the embodiment of the present application, to root
It is done as described below according to the choosing method that the current state progress target that candidate sends robot with charge free sends robot with charge free.
As shown in figure 4, sending the method flow diagram that machine person takes, this method tool with charge free for target provided by the embodiments of the present application
Body includes the following steps:
S401, each candidate of acquisition send range information of the robot apart from counter with charge free；
S402, it range information and each candidate of the robot apart from counter is sent with charge free according to each candidate of acquisition sends with charge free
The current state information of robot is sent with charge free from each candidate and selects target in robot and send robot with charge free.
Here it is possible to obtain the range information that each candidate sends robot with charge free apart from counter first, it is then based on acquisition
Each range information and current state information are sent with charge free from each candidate and select target in robot and send robot with charge free, such as select
Taking-up is currently at idle state and the candidate nearest apart from counter sends robot with charge free as target and send robot with charge free, related specific
Distance calculating method be referred to above content, details are not described herein.
In the embodiment of the present application, target is sent with charge free after robot completes the sending with charge free of article order, can return counter or
Counter nearby sends task with charge free with the next article order of preparation reception.In the embodiment of the present application, when counter includes charging pile,
It can be sent with charge free determining target after robot is less than set distance at a distance from counter, judge whether is charging pile that counter includes
It is in the lock state；If so, obtaining the information of charging pile for the other charging piles being in idle condition, and according to the charging of acquisition
Stake information control target sends robot with charge free and is back to corresponding other charging piles；If it is not, then controlling target sends robot return with charge free
The charging pile for including to counter.
Here, have an opportunity per capita counter picking since candidate sends machine with charge free, each send with charge free after robot returns
Counter charging pile can be back to await orders, unless there are robot on counter charging pile.In addition, when target container is multiple,
Target, which sends robot with charge free, can be back to the counter point corresponding to itself closer charging pile.
Next the return situation after the completion of article being sent with charge free and sent with charge free in conjunction with a specific example is illustrated.
Assuming that two candidates send robot a and b with charge free, counter charging pile A and common charging pile B are respectively corresponded.In initial shape
Under state, candidate sends robot a corresponding A with charge free, and candidate sends robot b with charge free and corresponds to B, and at this moment, candidate, which sends robot a with charge free, can lock goods
Cabinet charging A, candidate, which sends robot b with charge free, can lock common charging pile B, after server receives article order, can use
Candidate sends robot a picking with charge free and goes to send object, at this point, candidate, which sends robot a with charge free, needs to unlock charging pile A, then has other articles to order
When singly coming, candidate, which sends robot b with charge free, can first judge whether counter charging pile A is in idle, if so, candidate sends machine with charge free
People b is first detached from the charging pile of oneself, then unlocks charging pile B, then locks counter charging pile A, and then picking is completed, and goes to send object,
Candidate sends robot b unlock charging pile A with charge free.If candidate sends robot b with charge free and first completes to send object, then find on counter charging pile
There is no robot, move back on counter charging pile A and charge, candidate sends with charge free after the completion of robot a send object and finds counter charging pile
Shang You robot may return to another charging pile B.
Based on the same inventive concept, Order splitting dress corresponding with order allocation method is additionally provided in the embodiment of the present application
It sets, since the principle that the device in the embodiment of the present application solves the problems, such as is similar to the embodiment of the present application the above order distribution method,
Therefore the implementation of device may refer to the implementation of method, and overlaps will not be repeated.As shown in figure 5, for the embodiment of the present application institute
The structural schematic diagram of the Order splitting device of offer, the Order splitting device include:
Module 501 is obtained, sends the current of robot with charge free for after receiving article order information, obtaining each candidate
Status information；
Module 502 is chosen, the current state information of robot is sent with charge free for each candidate according to acquisition, from each candidate
It sends with charge free and selects target in robot and send robot with charge free；
Dispatch module 503 sends robot with charge free for the target based on selection and carries out sending with charge free for article order.
In one embodiment, module 502 is chosen, is specifically used for:
Send the current state information of robot with charge free according to each candidate of acquisition, it is determined whether there are current states for
The candidate for the charging pile charging that counter includes sends robot with charge free；
If it exists, then determining candidate is sent with charge free robot as target send robot with charge free；
Dispatch module 503, is specifically used for:
Instruction is sent with charge free according to the first article that the article order information generation target received sends robot with charge free；First article
It sends with charge free in instruction and at least carries the corresponding destination locations information of article order information；
Send the first article with charge free instruction and be sent to target and send robot with charge free so that target send with charge free robot by article order by
Send destination locations with charge free in current location corresponding to counter.
In another embodiment, module 502 is chosen, also particularly useful for:
Current state is that the candidate for the charging pile charging for just including sends robot with charge free in counter if it does not exist, it is determined whether
It is that the candidate being in idle condition sends robot with charge free there are current state；
If it exists, then robot is sent with charge free for each candidate that current state is in idle condition, obtain the candidate and send with charge free
Range information of the robot apart from counter；
The candidate nearest apart from counter is sent with charge free robot as target and sends robot with charge free.
In yet another embodiment, module 502 is chosen, also particularly useful for:
Current state is that the candidate for the charging pile charging for just including sends robot with charge free in counter if it does not exist, then obtains each
Candidate sends range information of the robot apart from counter with charge free；
Current state is in idle condition and the candidate nearest apart from counter sends robot with charge free as target and send machine with charge free
People.
In another embodiment, dispatch module 503 is specifically used for:
Instruction is sent with charge free according to the second article that the article order information generation target received sends robot with charge free；Second article
It sends with charge free in instruction and at least carries the corresponding counter location information of article order information and destination locations information；
It sends the second article with charge free instruction and is sent to target and send robot with charge free, so that target sends robot with charge free first for article order
Counter position is sent with charge free by the current location that the target sends robot with charge free, then destination locations are sent with charge free by counter position.
In another embodiment, dispatch module 503 is specifically used for:
Robot is sent with charge free in target article order is sent with charge free counter position by the current location that the target sends robot with charge free
Before, the charging pile that target sends that robot includes to counter with charge free sends state lock instruction, so that the charging pile root that counter includes
State locking is carried out according to state lock instruction；
After the completion of state locking, generates and the current location of robot is sent with charge free to the path planning of counter position by the target
Information；
Article order is sent with charge free counter position by the current location that the target sends robot with charge free according to route planning information.
In another embodiment, module 502 is chosen, also particularly useful for:
It is selected in robot before target sends robot with charge free being sent with charge free from each candidate, obtains each candidate and send machine with charge free
Range information of the people apart from counter；
Range information and each candidate of the robot apart from counter are sent with charge free according to each candidate of acquisition sends robot with charge free
Current state information, sent with charge free from each candidate and select target in robot and send robot with charge free.
In another embodiment, further includes:
Control module 504, for determine target send with charge free robot at a distance from counter be less than set distance after, judgement
Whether the charging pile that counter includes is in the lock state；Counter is for providing article corresponding to article order information；
If so, obtaining the information of charging pile for the other charging piles being in idle condition, and believed according to the charging pile of acquisition
Breath control target sends robot with charge free and is back to corresponding other charging piles；
The charging pile that counter includes is back to if it is not, then controlling target and sending robot with charge free.
The embodiment of the present application also provides a kind of electronic equipment, as shown in fig. 6, the electronic equipment includes memory 602, place
It manages device 601 and is stored in the computer program that can be run on the memory 602 and on the processor 601, wherein above-mentioned processing
Device 601 realizes the step of the above order distribution method when executing above-mentioned computer program.
Specifically, above-mentioned memory 602 and processor 601 can be general memory 602 and processor 601, here
It is not specifically limited, when the computer program of 601 run memory 602 of processor storage, is able to carry out the above order distribution
Method, thus solve the problem of that sending existing manpower consuming with charge free using manual method progress article sends low efficiency with charge free greatly, to
While realizing that intelligence is sent with charge free, the efficiency that article is sent with charge free is improved.
The embodiment of the present application also provides a kind of computer readable storage medium, stored on the computer readable storage medium
The step of having computer program, executing the above order distribution method when the computer program is by the operation of processor 601.
In embodiment provided herein, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the present application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution.The protection in the application should all be covered
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of order allocation method, which is characterized in that the described method includes:
After receiving article order information, the current state information that each candidate sends robot with charge free is obtained；
The current state information for sending robot with charge free according to each candidate of acquisition is sent with charge free from each candidate and selects mesh in robot
Mark sends robot with charge free；
Target based on selection sends robot with charge free and carries out sending with charge free for article order.
2. the method according to claim 1, wherein described send working as robot with charge free according to each candidate of acquisition
Preceding status information is sent with charge free from each candidate and selects target in robot and send robot with charge free, comprising:
Send the current state information of robot with charge free according to each candidate of acquisition, it is determined whether there are current states for just in counter
Including charging pile charging candidate send robot with charge free；
If it exists, then determining candidate is sent with charge free robot as target send robot with charge free；
The target based on selection sends robot with charge free and carries out sending with charge free for article order, comprising:
The target is generated according to the article order information received send the first article of robot with charge free send instruction with charge free；Described first
Article is sent with charge free in instruction and at least carries the corresponding destination locations information of article order information；
It sends first article with charge free instruction and is sent to the target and send robot with charge free, so that the target sends robot with charge free for object
Send destination locations with charge free in product order current location as corresponding to the counter.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
Current state is that the candidate for the charging pile charging for just including sends robot with charge free in counter if it does not exist, it is determined whether is existed
Current state is that the candidate being in idle condition sends robot with charge free；
If it exists, then robot is sent with charge free for each candidate that current state is in idle condition, obtain the candidate and send machine with charge free
Range information of the people apart from counter；
The candidate nearest apart from the counter is sent with charge free robot as target and sends robot with charge free.
4. according to the method described in claim 2, it is characterized in that, the method also includes:
Current state is that the candidate for the charging pile charging for just including sends robot with charge free in counter if it does not exist, then obtains each candidate
Send range information of the robot apart from counter with charge free；
Current state is in idle condition and the candidate nearest apart from the counter sends robot with charge free as target and send machine with charge free
People.
5. the method according to claim 3 or 4, which is characterized in that the target based on selection sends robot progress with charge free
Article order is sent with charge free, comprising:
The target is generated according to the article order information received send the second article of robot with charge free send instruction with charge free；Described second
Article is sent with charge free in instruction and at least carries the corresponding counter location information of article order information and destination locations information；
It sends second article with charge free instruction and is sent to the target and send robot with charge free, first will so that the target sends robot with charge free
Article order sends counter position with charge free by the current location that the target sends robot with charge free, then sends purpose with charge free by the counter position
Position.
6. according to the method described in claim 5, it is characterized in that, sending robot with charge free for article order by the mesh in the target
It sends with charge free before counter position the current location that mark sends robot with charge free, further includes:
The target sends the charging pile that robot includes to counter with charge free and sends state lock instruction, so that the counter filling of including
Electric stake carries out state locking according to the state lock instruction；
After the completion of state locking, the path planning for generating current location to the counter position for sending robot with charge free by the target is believed
Breath；
The target sends robot with charge free and sends article order with charge free counter position by the current location that the target sends robot with charge free, packet
It includes:
The article order is sent with charge free counter by the current location that the target sends robot with charge free according to the route planning information
Position.
7. the method according to claim 1, wherein selecting mesh in robot in described send with charge free from each candidate
Mark is sent with charge free before robot, further includes:
Obtain the range information that each candidate sends robot with charge free apart from counter；
Described send with charge free from each candidate selects target and sends robot with charge free in robot, comprising:
Range information and each candidate of the robot apart from counter are sent with charge free according to each candidate of acquisition sends working as robot with charge free
Preceding status information is sent with charge free from each candidate and selects target in robot and send robot with charge free.
8. the method according to claim 1, wherein sending robot with charge free in the target based on selection carries out object
After the sending with charge free of product order, further includes:
It is determining that the target sends with charge free after robot is less than set distance at a distance from counter, is judging that the counter included fills
Whether electric stake is in the lock state；The counter is for providing article corresponding to article order information；
If so, obtaining the information of charging pile for the other charging piles being in idle condition, and according to the information of charging pile control of acquisition
It makes the target and sends robot with charge free and be back to corresponding other charging piles；
The charging pile that the counter includes is back to if it is not, then controlling the target and sending robot with charge free.
9. a kind of Order splitting device, which is characterized in that described device includes:
Module is obtained, sends the current state letter of robot with charge free for after receiving article order information, obtaining each candidate
Breath；
Module is chosen, sends the current state information of robot with charge free for each candidate according to acquisition, from each candidate distributer
Target, which is selected, in device people sends robot with charge free；
Dispatch module sends robot with charge free for the target based on selection and carries out sending with charge free for article order.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer journey on the computer readable storage medium
The step of sequence, which executes order allocation method as described in any of the claims 1 to 8 when being run by processor.
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| CN201910367869.2A CN110110923A (en) | 2019-05-05 | 2019-05-05 | A kind of order allocation method and device |
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| CN201910367869.2A CN110110923A (en) | 2019-05-05 | 2019-05-05 | A kind of order allocation method and device |
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| CN201910367869.2A Pending CN110110923A (en) | 2019-05-05 | 2019-05-05 | A kind of order allocation method and device |
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| CN111782752A (en) * | 2020-06-30 | 2020-10-16 | 北京百度网讯科技有限公司 | Method and device for determining position of delivery point, electronic equipment and storage medium |
| CN112183932A (en) * | 2020-08-28 | 2021-01-05 | 广州赛特智能科技有限公司 | Robot distribution task scheduling method and system |
| CN112025712A (en) * | 2020-09-09 | 2020-12-04 | 上海有个机器人有限公司 | Method and system for remotely ordering goods through robot |
| CN112288366A (en) * | 2020-10-30 | 2021-01-29 | 北京市商汤科技开发有限公司 | Article delivery method and device, electronic equipment and storage medium |
| CN112529463A (en) * | 2020-12-24 | 2021-03-19 | 北京云迹科技有限公司 | Method, device and system for cooperation of multiple robots and containers |
| CN112835365A (en) * | 2020-12-31 | 2021-05-25 | 深圳市普渡科技有限公司 | Method and device for setting robot delivery target point, robot and storage medium |
| CN112835365B (en) * | 2020-12-31 | 2024-04-12 | 深圳市普渡科技有限公司 | Method and device for setting robot delivery target point, robot and storage medium |
| CN112757303A (en) * | 2021-01-15 | 2021-05-07 | 上海擎朗智能科技有限公司 | Robot control method, robot control device, robot, transport system, and medium |
| CN113222404A (en) * | 2021-05-10 | 2021-08-06 | 阿尔华(广州)科技有限公司 | Scheduling device and method of intelligent delivery system |
| CN113222404B (en) * | 2021-05-10 | 2024-05-03 | 阿尔华(广州)科技有限公司 | Scheduling device and method of intelligent object delivery system |
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