CN110046818A - A kind of multi-robot Task Allocation - Google Patents
A kind of multi-robot Task Allocation Download PDFInfo
- Publication number
- CN110046818A CN110046818A CN201910301092.XA CN201910301092A CN110046818A CN 110046818 A CN110046818 A CN 110046818A CN 201910301092 A CN201910301092 A CN 201910301092A CN 110046818 A CN110046818 A CN 110046818A
- Authority
- CN
- China
- Prior art keywords
- task
- robot
- server
- time
- list
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
-
- 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
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
Landscapes
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Engineering & Computer Science (AREA)
- Strategic Management (AREA)
- Entrepreneurship & Innovation (AREA)
- Economics (AREA)
- Operations Research (AREA)
- Game Theory and Decision Science (AREA)
- Development Economics (AREA)
- Marketing (AREA)
- Educational Administration (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention belongs to robotic technology fields, more particularly to a kind of multi-robot Task Allocation, this programme matches the attribute data of robot and the task of server task list, with fast matching method, task distribution is carried out to situ machine people and finds slack resources in time in combination with robot during operating, it gives full play to resource to go to share task amount, has a Method Of Accomplishment more efficiently to live task in conjunction with more equipment.This programme can improve the matching degree of server task list and robot, task can be assigned in suitable robot task list, the efficiency of raising task, implementation capacity and saving more times, also existing unfinished task can be reassigned to idle machine people in robot operational process, task is more balanced, it is less to complete task time.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of multi-robot Task Allocation.
Background technique
As increasingly maturation, the multiple autonomous mobile robots of robot technology cooperate have become in a big way
It may.In order to realize that multirobot cooperates, it is necessary to reasonable task distribution is carried out to robot, so that robot does not occur to appoint
Business conflict, improves working efficiency；And location information is provided for robot, to allow the robot to complete in the larger context
Task.
Currently existing scheme is all that task list is vertically assigned to each robot, this scheme in static allocation task
Lack robot some attributes and environmental data and server distribution task attribute interact, do not improve distribution effect
Rate cannot accomplish the linkage distribution cooperation that task is carried out using idle robot in Robotic Dynamic operation.Existing side
Method, which does not account for connatural task type, to be distributed to the robot of same type and is executed, and robot task is not carried out
Data and server interaction re-start in the dynamic process that robot executes task and appoint using current non-busy robot
Business optimization distribution.Prior art disadvantage: allocative efficiency is low, and resource utilization is low, can not transfer efficient resource according to real-time condition
It goes to complete task, reduces task time.
Summary of the invention
In order to solve technological deficiency existing in the prior art, the invention proposes a kind of multi-robotic task distribution sides
Method matches the attribute data of robot and the task of server task list, with fast matching method, to situ machine people
Carry out task distribution finds slack resources in combination with robot during operating in time, gives full play to resource and goes to share
Task amount has a Method Of Accomplishment more efficiently to live task in conjunction with more equipment.
The invention is realized by the following technical scheme:
A kind of multi-robot Task Allocation, is divided into static task scheduling and dynamic task allocation, comprising steps of
S0: robot connects server, and server starts task distribution；
S1: server timing scan needs to wait for distributing with the presence or absence of task；When there are when task distribution, then being selected on server
Static task scheduling rule S2 is selected, needs to distribute when task is not present on server, and there are robots to be in execution task shape
When state, dynamic task allocation rule S3 is selected to need distribution and be in execute there is no robot to appoint there is no task when server
Business state, end task distribution.
Further, static task scheduling rule S2 includes the following steps:
(1) task in task server in task list is obtained；
(2) any idle machine people is judged whether there is；If it is present obtaining an idle machine people, enter step
(4)；If it does not exist, then entering step (3)；
(3) robot for being carrying out task is obtained；
(4) the Multiple factors data of robot to be allocated are obtained；
(5) judge whether each factor data meets preset requirement；
(6) judging result, the distribution of execute server task are based on.
Further, in the step (4), the factor data includes: position, type, number, remaining capacity, appoints
It is engaged in one or more of time or remaining time.
Further, in step (5), further comprise:
(5.1) judge whether the task type matches with robot type；If it is not, then entering step (6)；If so,
Then enter step (5.2)；
(5.2) judge that the robot to be allocated gets the quantity of task and whether reaches the threshold value of predetermined set, if so, into
Enter step (6), if task quantity does not reach the threshold value of predetermined set, enters step (5.3)；
(5.3) judge whether the robot remaining capacity to be allocated and remaining time can complete task, if not, the machine
People returns to juice point charging, and state is changed to just enter step (6) in charged state；If remaining capacity and remaining time are sufficient,
Then enter step (5.4)；
(5.4) if conditions above all meets, task is pushed to the task list of current robot, by the robot
Execution task, while updating remaining time and the remaining capacity of robot.
Further, in step (6), further comprise: scanning server whether there is task；If so, returning to step
Suddenly (1)；If it is not, then return step S1；
Further, dynamic task allocation rule S3 includes the following steps:
(1) the task quantity for judging whether there is robot is greater than 1；If so, entering step (2)；If not, return step
S1；
(2) all robots respective task time and task quantity are obtained, and is ranked up by task time length, is appointed
Business time list is denoted as T, and task quantity list is denoted as P；
(3) dynamic task decision carries out traversal decision to the robot after sequence in the step (2), according to each machine
The Multiple factors data of device people, make dynamic task decision；
(4) terminate this dynamic task allocation, return to step S1；
Further, in the step (3), the factor data includes: position, type, number, remaining capacity, appoints
It is engaged in one of time or remaining time or a variety of.
The invention also includes a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Or a plurality of computer instruction realizes above-mentioned method for allocating tasks when being executed.
Compared with prior art, the present invention at least has the following beneficial effects or advantage: the present invention can improve server
The matching degree of task list and robot can be assigned to task in suitable robot task list, improve the efficiency of task,
Implementation capacity and saving more times, existing unfinished task can be also reassigned in robot operational process
Idle machine people, task is more balanced, it is less to complete task time.
Detailed description of the invention
The present invention is described in further details below with reference to attached drawing；
Fig. 1 is task allocation rule flow chart of the invention；
Fig. 2 is static task scheduling rule flow chart of the invention.
Fig. 3 is dynamic task allocation rule flow chart of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
A multi-robotic task distribution system in the present embodiment includes: one or more robots, a server, and one
Client；A task list is wherein stored on server, which is used to characterize pending times for needing to distribute
Business.Robot is equally stored with a task list, which, and can be with for indicating the pending task of the robot
Priority ranking is carried out to task.User logs in (such as web page, APP) server by client can be in the server
Newly-built being executed to robot for task, or directly established task is uploaded onto the server.
Robot establishes automatically with server communicate to connect after powering, and reports the information of robot, the packet
Include the state of robot, electricity, task list etc..Optionally can also be after robot and server establish connection, service
Device automatic regular polling robot, for obtaining the information of robot.
In addition, there are different types of robot for robot, for example, patrol robot, service humanoid robot,
Disaster relief and rescue robot, amusement robot etc., different types of robot can execute different types of task, such as basis
Robot operative scenario executes the mode of task, executes content and is divided into A patrol mission, B service role, C removing obstacles object task
Etc.；Different types of task is also required to different types of robot equally to execute.For different tasks in the present embodiment
Different tasks is indicated using a task type attribute, and difference also is divided into according to its function for different robots
Robot, i.e., the function of indicating the function of robot using a robot type or can execute.
In addition, robot has following several states: the free time is carrying out task, is charging；It is wherein idle to indicate
Robot can be executed without task at this time, and electricity is also relatively sufficient.It is carrying out task, then it represents that robot is at this time just
In the task of execution.It is charging, then it represents that robot is charging at this time.For just in the robot of charged state, when it is filled
After electricity, its state can be changed, such as before charge, in task list according to the state before its charging again
There is task to need to be implemented, then can obtain task from its task list immediately, and execute the task, while updating its state and being
It is carrying out task；If there is no task to need to be implemented in task list, then idle state is changed to.
Multi-robot Task Allocation of the present invention, as shown in Figure 1, this method comprises the following steps:
S0: robot connects server, and server starts task distribution；
S1: server timing scan is to be allocated with the presence or absence of task dispatching；
When there are when task distribution, then selecting static task scheduling rule S2 on server, when there is no appoint on server
It is zero that business, which needs task distribution state on distribution i.e. server, and is in there are robot and executes task status, and selection is dynamic
State task allocation rule S3 executes task status when server is needed to distribute and is in there is no robot there is no task, knot
The distribution of beam task.
Server is by judging the task to be allocated stored in server in the present embodiment, to select difference
Task allocation rule, flexibly the task of robot can be allocated.
Further, in this embodiment static task scheduling rule as shown in Fig. 2, including the following steps:
(1) task in task server in task list is obtained；
(2) judge on server with the presence or absence of task idle machine people；If it is present obtaining an idle machine
People enters step (4)；If it does not exist, then entering step (3)；Specifically, judge on server with the presence or absence of task free time machine
Device people, can be by being scanned the robot logged on server, to obtain the state of robot, to judge whether
In the presence of idle robot；
(3) robot for being carrying out task is obtained；
(4) factor datas such as remaining capacity, task time and the remaining time of robot to be allocated are obtained；It is described to point
With the robot for being carrying out task obtained in the idle robot or step (3) selected in the artificial step of machine (2).
(5) judge whether the task type matches with robot type；If not, entering step (9)；If it is, into
Enter step (6)；
(6) judge that the robot to be allocated gets the quantity of task and whether reaches the threshold value of predetermined set, if so, into
Step (9) enters step (7) if task quantity does not reach the threshold value of predetermined set；
(7) judge whether the robot remaining capacity to be allocated and remaining time can complete task, if not, the robot
Juice point charging is returned to, state is changed to just enter step (9) in charged state；If remaining capacity and remaining time are sufficient,
Enter step (8)；
(8) task is pushed to the task list of current robot, task is executed by the robot, while updating robot
Time and remaining capacity.
(9) scanning server whether there is task, if so, return step (1)；If it is not, then into return step S1；
Dynamic task allocation rule in the present embodiment is as follows as shown in Figure 2: including the following steps:
(1) the task quantity for judging whether there is robot is greater than 1；If so, entering step (2)；If not, return step
S1；
(2) all robots respective task time and task quantity are obtained, and is ranked up by task time length, is appointed
Business time list is denoted as T, and task quantity list is denoted as P；
(3) dynamic task decision carries out traversal decision to the robot after sequence in the step (2), according to each machine
The type of device people, number, remaining capacity, task time and remaining time, make dynamic task decision；
Traversal decision carried out to the robot after sequence in step (2), i.e., when the robot grown by task time is to task
Between short robot decision one by one:
The task quantity for judging current robot, task dynamic allocation are just carried out when task quantity is greater than 1, and acquisition is most pushed up
Pending task is held, otherwise judges the task quantity of next robot.
Judge whether the task can be executed by other robot, the robot short from task time to task time length
Robot judges one by one, if the task time is less than the task of script robot plus the task time of robot to be allocated
Between, then the robot to be allocated is obtained, otherwise judges next robot, judges whether robot to be allocated meets task
Execute requirement.
The type of task equipment people to be allocated is obtained, is numbered, remaining capacity, task time and remaining time are because of prime number
According to.If task type and the robot type to be allocated mismatch, obtains next robot and judged.If should be to
The quantity that dispensation machines people gets task reaches the threshold value of predetermined set, then obtains next robot and judged, if should
Robot remaining capacity to be allocated and remaining time cannot complete task, then obtain next robot and judged, otherwise
Task is pushed to the task list of current robot to be allocated, while when updating former robot and distributing the task of task equipment people
Between and remaining time.
Robot total quantity is denoted as N, then the specific following instantiation procedure of dynamic task decision:
(4) terminate this dynamic task allocation, return to step S1；
The present invention also provides a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Item or a plurality of computer instruction realize method for allocating tasks described above when being executed.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Protect range.Without departing from the spirit and scope of the invention, any modification, equivalent substitution, improvement and etc. done also belong to this
Within the protection scope of invention.
Claims (8)
1. a kind of multi-robot Task Allocation, is divided into static task scheduling and dynamic task allocation, which is characterized in that including
Step:
S0: robot connects server, and server starts task distribution；
S1: server timing scan needs to wait for distributing with the presence or absence of task；When there are when task distribution, then being selected quiet on server
State task allocation rule S2, when needing to distribute there is no task on server, and thering is robot to be in execution task status, choosing
Dynamic task allocation rule S3 is selected, when server needs to distribute there is no task and is in execution task shape there is no robot
State, end task distribution.
2. multi-robot Task Allocation according to claim 1, which is characterized in that static task scheduling rule S2 packet
Include following steps:
(1) task in server in task list is obtained；
(2) any idle machine people is judged whether there is；If it is present obtaining an idle machine people, (4) are entered step；
If it does not exist, then entering step (3)；
(3) robot for being carrying out task is obtained；
(4) the Multiple factors data of robot to be allocated are obtained；
(5) judge whether each factor data meets preset requirement；
(6) judging result, the distribution of execute server task are based on.
3. multi-robot Task Allocation according to claim 2, which is characterized in that described in the step (4)
Factor data includes: one or more of position, type, number, remaining capacity, task time or remaining time.
4. multi-robot Task Allocation according to claim 3, which is characterized in that in step (5), further wrap
It includes:
(5.1) judge whether the task type matches with robot type；If it is not, then entering step (6)；If it is, into
Enter step (5.2)；
(5.2) judge that the robot to be allocated gets the quantity of task and whether reaches the threshold value of predetermined set, if it is, into
Step (6) enters step (5.3) if task quantity does not reach the threshold value of predetermined set；
(5.3) judge whether the robot remaining capacity to be allocated and remaining time can complete task, if not, the robot returns
It charges to juice point, state is changed to just enter step (6) in charged state；If remaining capacity and remaining time are sufficient, into
Enter step (5.4)；
(5.4) if conditions above all meets, task is pushed to the task list of current robot, is executed by the robot
Task, while updating remaining time and the remaining capacity of robot.
5. multi-robot Task Allocation according to claim 4, which is characterized in that in step (6), further wrap
Include: scanning server whether there is task；If so, return step (1)；If it is not, then return step S1.
6. multi-robot Task Allocation according to claim 1, which is characterized in that dynamic task allocation rule S3 packet
Include following steps:
(1) robot task quantity is judged whether there is greater than 1；If so, entering step (2)；If not, return step S1；
(2) all robots respective task time and task quantity are obtained, and is ranked up by task time length, when task
Between list be denoted as T, task quantity list is denoted as P；
(3) dynamic task decision carries out traversal decision to the robot after sequence in the step (2), according to each robot
Multiple factors data, make dynamic task decision；
(4) terminate this dynamic task allocation, return to step S1..
7. multi-robot Task Allocation according to claim 6, which is characterized in that described in the step (3)
Factor data includes: one of position, type, number, remaining capacity, task time or remaining time or a variety of.
8. a kind of non-volatile memory medium, which is characterized in that including one or more computer instruction, described one or more
Computer instruction realizes the described in any item methods of the claims 1-9 when being executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910301092.XA CN110046818A (en) | 2019-04-15 | 2019-04-15 | A kind of multi-robot Task Allocation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910301092.XA CN110046818A (en) | 2019-04-15 | 2019-04-15 | A kind of multi-robot Task Allocation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110046818A true CN110046818A (en) | 2019-07-23 |
Family
ID=67277293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910301092.XA Pending CN110046818A (en) | 2019-04-15 | 2019-04-15 | A kind of multi-robot Task Allocation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110046818A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110427029A (en) * | 2019-07-31 | 2019-11-08 | 广州高新兴机器人有限公司 | A kind of method of multirobot collaboration patrol and scheduling |
| CN110807616A (en) * | 2019-10-29 | 2020-02-18 | 上海悦易网络信息技术有限公司 | Goods picking method and equipment |
| CN110977979A (en) * | 2019-12-13 | 2020-04-10 | 华南智能机器人创新研究院 | Idle robot scheduling method and system |
| CN111427683A (en) * | 2020-03-20 | 2020-07-17 | 达而观信息科技（上海）有限公司 | Task allocation method and device of robot for process automation in computer |
| CN112613745A (en) * | 2020-12-24 | 2021-04-06 | 航天信息股份有限公司 | Recorder management method, system, storage medium and electronic device |
| CN112633741A (en) * | 2020-12-30 | 2021-04-09 | 北京云迹科技有限公司 | Task allocation method, equipment and computer readable storage medium |
| CN113325813A (en) * | 2021-05-28 | 2021-08-31 | 南京莱科沃德智能科技有限公司 | Embedded multi-robot cooperative task allocation and control system and device |
| CN113524200A (en) * | 2021-09-07 | 2021-10-22 | 季华实验室 | Mechanical arm scheduling system, mechanical arm scheduling method, mechanical arm replacing device, mechanical arm equipment and mechanical arm medium |
| CN113640680A (en) * | 2021-08-04 | 2021-11-12 | 国网浙江省电力有限公司嘉兴供电公司 | Robot instruction distribution method based on battery power |
| CN114040380A (en) * | 2021-11-08 | 2022-02-11 | 北京百度网讯科技有限公司 | Data issuing method, device, electronic equipment, medium and product |
| CN114066332A (en) * | 2022-01-17 | 2022-02-18 | 融通地产物业管理有限公司 | Digital management method and system for central delivery service |
| CN114227699A (en) * | 2022-02-10 | 2022-03-25 | 乐聚(深圳)机器人技术有限公司 | Robot motion adjustment method, robot motion adjustment device, and storage medium |
| CN114565284A (en) * | 2022-03-02 | 2022-05-31 | 北京百度网讯科技有限公司 | Task allocation method, system, electronic device and storage medium |
| CN115860366A (en) * | 2022-11-17 | 2023-03-28 | 桂林电子科技大学 | Community robot intelligent coordination control method and system and readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160023357A1 (en) * | 2004-06-24 | 2016-01-28 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
| CN107168054A (en) * | 2017-05-10 | 2017-09-15 | 沈阳工业大学 | Multi-robotic task is distributed and paths planning method |
| CN107291078A (en) * | 2017-06-06 | 2017-10-24 | 歌尔股份有限公司 | The dispatching method and device of a kind of service robot |
| CN108009012A (en) * | 2017-12-14 | 2018-05-08 | 中南大学 | A kind of multiple agent dynamic task allocation method of task based access control model |
| CN108227654A (en) * | 2017-12-28 | 2018-06-29 | 顺丰科技有限公司 | A kind of dispatch service end, dispatching device, robot system and dispatching method |
| CN109426555A (en) * | 2017-08-31 | 2019-03-05 | 南京龙贞自控科技发展有限公司 | A kind of method for scheduling task of domestic articles carrier robot |
| CN109583709A (en) * | 2018-11-09 | 2019-04-05 | 同济大学 | A kind of automatic parking robot group method for scheduling task |
-
2019
- 2019-04-15 CN CN201910301092.XA patent/CN110046818A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160023357A1 (en) * | 2004-06-24 | 2016-01-28 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
| CN107168054A (en) * | 2017-05-10 | 2017-09-15 | 沈阳工业大学 | Multi-robotic task is distributed and paths planning method |
| CN107291078A (en) * | 2017-06-06 | 2017-10-24 | 歌尔股份有限公司 | The dispatching method and device of a kind of service robot |
| CN109426555A (en) * | 2017-08-31 | 2019-03-05 | 南京龙贞自控科技发展有限公司 | A kind of method for scheduling task of domestic articles carrier robot |
| CN108009012A (en) * | 2017-12-14 | 2018-05-08 | 中南大学 | A kind of multiple agent dynamic task allocation method of task based access control model |
| CN108227654A (en) * | 2017-12-28 | 2018-06-29 | 顺丰科技有限公司 | A kind of dispatch service end, dispatching device, robot system and dispatching method |
| CN109583709A (en) * | 2018-11-09 | 2019-04-05 | 同济大学 | A kind of automatic parking robot group method for scheduling task |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110427029A (en) * | 2019-07-31 | 2019-11-08 | 广州高新兴机器人有限公司 | A kind of method of multirobot collaboration patrol and scheduling |
| CN110807616A (en) * | 2019-10-29 | 2020-02-18 | 上海悦易网络信息技术有限公司 | Goods picking method and equipment |
| CN110977979B (en) * | 2019-12-13 | 2021-11-02 | 华南智能机器人创新研究院 | Idle robot scheduling method and system |
| CN110977979A (en) * | 2019-12-13 | 2020-04-10 | 华南智能机器人创新研究院 | Idle robot scheduling method and system |
| CN111427683A (en) * | 2020-03-20 | 2020-07-17 | 达而观信息科技（上海）有限公司 | Task allocation method and device of robot for process automation in computer |
| CN112613745A (en) * | 2020-12-24 | 2021-04-06 | 航天信息股份有限公司 | Recorder management method, system, storage medium and electronic device |
| CN112633741A (en) * | 2020-12-30 | 2021-04-09 | 北京云迹科技有限公司 | Task allocation method, equipment and computer readable storage medium |
| CN113325813A (en) * | 2021-05-28 | 2021-08-31 | 南京莱科沃德智能科技有限公司 | Embedded multi-robot cooperative task allocation and control system and device |
| CN113640680A (en) * | 2021-08-04 | 2021-11-12 | 国网浙江省电力有限公司嘉兴供电公司 | Robot instruction distribution method based on battery power |
| CN113524200A (en) * | 2021-09-07 | 2021-10-22 | 季华实验室 | Mechanical arm scheduling system, mechanical arm scheduling method, mechanical arm replacing device, mechanical arm equipment and mechanical arm medium |
| CN113524200B (en) * | 2021-09-07 | 2021-12-14 | 季华实验室 | Mechanical arm scheduling system, mechanical arm scheduling method, mechanical arm replacing device, mechanical arm equipment and mechanical arm medium |
| CN114040380B (en) * | 2021-11-08 | 2023-08-01 | 北京百度网讯科技有限公司 | Data issuing method and device, electronic equipment, medium and product |
| CN114040380A (en) * | 2021-11-08 | 2022-02-11 | 北京百度网讯科技有限公司 | Data issuing method, device, electronic equipment, medium and product |
| CN114066332A (en) * | 2022-01-17 | 2022-02-18 | 融通地产物业管理有限公司 | Digital management method and system for central delivery service |
| CN114066332B (en) * | 2022-01-17 | 2022-04-19 | 融通地产物业管理有限公司 | Digital management method and system for central delivery service |
| CN114227699A (en) * | 2022-02-10 | 2022-03-25 | 乐聚(深圳)机器人技术有限公司 | Robot motion adjustment method, robot motion adjustment device, and storage medium |
| CN114565284A (en) * | 2022-03-02 | 2022-05-31 | 北京百度网讯科技有限公司 | Task allocation method, system, electronic device and storage medium |
| CN115860366A (en) * | 2022-11-17 | 2023-03-28 | 桂林电子科技大学 | Community robot intelligent coordination control method and system and readable storage medium |
| CN115860366B (en) * | 2022-11-17 | 2024-05-14 | 桂林电子科技大学 | Intelligent coordination control method and system for community robot and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110046818A (en) | A kind of multi-robot Task Allocation | |
| CN109720223B (en) | AGV charging management method, storage device and transportation system | |
| CN110350609B (en) | AGV charging management method and system, equipment and storage medium | |
| CN103207814B (en) | Managing and task scheduling system and dispatching method across cluster resource of a kind of decentration | |
| CN107800756A (en) | A kind of load-balancing method and load equalizer | |
| CN104699736B (en) | A kind of distributed larger scale data acquisition system and method based on movable equipment | |
| CN104951372A (en) | Method for dynamic allocation of Map/Reduce data processing platform memory resources based on prediction | |
| CN101951411A (en) | Cloud scheduling system and method and multistage cloud scheduling system | |
| CN101359295A (en) | Batch task scheduling and allocating method and system | |
| CN103561049A (en) | Method for processing terminal scheduling request, system thereof and device thereof | |
| CN102707995A (en) | Service scheduling method and device based on cloud computing environments | |
| CN104253850A (en) | Distributed task scheduling method and system | |
| CN103268258B (en) | A kind of satellite ground remote control is issued an order method of controlling security | |
| CN110601935A (en) | Processing method and device for tasks in intelligent home operating system and cloud platform system | |
| CN110457138A (en) | Management method, device and the electronic equipment of game server cluster | |
| CN111176840B (en) | Distribution optimization method and device for distributed tasks, storage medium and electronic device | |
| CN111552502A (en) | NB module upgrading method and device of intelligent equipment | |
| CN108429783A (en) | Electronic device, configuration file method for pushing and storage medium | |
| CN108920274B (en) | Performance optimization and device for image processing server side | |
| CN112465615A (en) | Bill data processing method, device and system | |
| CN103713852A (en) | Method for processing information, service platform and electronic devices | |
| CN111400028B (en) | Load balancing processing method for train management | |
| CN112231223A (en) | Distributed automatic software testing method and system based on MQTT | |
| CN111831452A (en) | Task execution method and device, storage medium and electronic device | |
| CN108667920B (en) | Service flow acceleration system and method for fog computing environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190723 |