CN113393124A

CN113393124A - Scheduling method, control method and device of delivery robot and electronic equipment

Info

Publication number: CN113393124A
Application number: CN202110662511.XA
Authority: CN
Inventors: 闵伟; 李佩; 钱龙; 王东; 顾佳伟
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2018-12-14
Filing date: 2018-12-14
Publication date: 2021-09-14
Also published as: CN109615247B; CN109615247A

Abstract

The embodiment of the invention discloses a scheduling method, a control method and a control device of a delivery robot and electronic equipment. The embodiment of the invention determines the current state information through the distribution robot and reports the state information to the server. The server acquires the state information of at least one delivery robot and a first type order of a client address in a delivery area, determines the predicted arrival time of a corresponding delivery person to reach a delivery point of the delivery area, and sends scheduling information to the delivery robot according to the state information and the predicted arrival time of the delivery robot so as to schedule the delivery robot. Therefore, the server can finish the dispatching of the delivery robot in a better mode, and therefore the efficiency of the delivery process and the customer satisfaction degree are improved.

Description

Scheduling method, control method and device of delivery robot and electronic equipment

The application is a divisional application of a Chinese patent application with the application date of 2018, 12 and 14, the application number of 2018115354079, and the name of the invention of a scheduling method, a control method and a device of a delivery robot and electronic equipment.

Technical Field

The invention relates to the field of data processing, in particular to a scheduling method, a control method and a control device of a delivery robot and electronic equipment.

Background

With the continuous development of science and technology, the order distribution mode of the e-commerce industry is also becoming more and more diversified, for example, the distribution mode based on unmanned aerial vehicles, distribution robots and the like. Generally, a delivery robot is arranged in a delivery area based on a delivery robot, an order delivery person (i.e., a delivery person) only needs to place an order in a storage bin of the delivery robot, and the delivery robot starts delivery immediately after the storage bin is full; when the storage bin has a vacant position, the delivery robot waits for a period of time and starts delivery. Sometimes, the order delivery personnel needs to wait for the delivery robot to complete the delivery and return to the delivery point in the delivery area before delivering the order to be delivered to the delivery robot, so that the waiting time may be long, the efficiency of the delivery process is low, and the customer satisfaction is even reduced.

Disclosure of Invention

In view of this, embodiments of the present invention provide a scheduling method, a method and an apparatus for controlling a delivery robot, and an electronic device, which can improve efficiency of a delivery process, thereby improving customer satisfaction.

In a first aspect, an embodiment of the present invention provides a scheduling method, where the method includes:

the method comprises the steps that a first type of orders of a receiving address in a distribution area are obtained, at least one distribution robot used for receiving a distribution target from a delivery point and distributing the distribution target to a target address is arranged in the distribution area, and the first type of orders are orders of distribution personnel in distribution;

acquiring state information of the at least one delivery robot;

determining an expected arrival time of the delivery personnel at a delivery point of the delivery area;

and sending scheduling information to the delivery robot according to the state information of the delivery robot and the predicted arrival time so as to schedule the delivery robot.

In a second aspect, an embodiment of the present invention provides a method for controlling a delivery robot, where the method includes:

determining current state information;

reporting the state information;

receiving scheduling information, and determining a status mode according to the scheduling information, wherein the status mode comprises a delivery waiting status and a delivery status.

In a third aspect, an embodiment of the present invention provides a scheduling apparatus, where the apparatus includes:

the first obtaining unit is used for obtaining a first type of order of a receiving address in a distribution area, at least one distribution robot used for receiving a distribution target from a delivery point and distributing the distribution target to the target address is arranged in the distribution area, and the first type of order is an order of a distributor in distribution;

a second acquisition unit configured to acquire status information of the at least one delivery robot;

a first determination unit configured to determine an expected arrival time of the delivery person at a delivery point of the delivery area;

and the first sending unit is used for sending scheduling information to the delivery robot according to the state information of the delivery robot and the predicted arrival time so as to schedule the delivery robot.

In a fourth aspect, an embodiment of the present invention provides a control apparatus for a dispensing robot, where the apparatus includes:

a second determination unit for determining current state information;

a reporting unit, configured to report the state information;

the system comprises a first receiving unit and a second receiving unit, wherein the first receiving unit is used for receiving scheduling information and determining a status mode according to the scheduling information, and the status mode comprises a delivery waiting status and a delivery status.

In a fifth aspect, the present invention provides a computer-readable storage medium on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the method according to any one of the first and second aspects.

In a sixth aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory is configured to store one or more computer program instructions, where the one or more computer program instructions are executed by the processor to implement the following steps:

acquiring state information of the at least one delivery robot;

In a seventh aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory is configured to store one or more computer program instructions, where the one or more computer program instructions are executed by the processor to implement the following steps:

determining current state information;

reporting the state information;

The embodiment of the invention determines the current state information through the distribution robot and reports the state information to the server. The server acquires the state information of at least one delivery robot and a first type order of a client address in a delivery area, determines the predicted arrival time of a corresponding delivery person to reach a delivery point of the delivery area, and sends scheduling information to the delivery robot according to the state information and the predicted arrival time of the delivery robot so as to schedule the delivery robot. Therefore, the server can finish the dispatching of the delivery robot in a better mode, and therefore the efficiency of the delivery process and the customer satisfaction degree are improved.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a system framework diagram of an embodiment of the present invention;

FIG. 2 is a flow chart of a scheduling method of the first embodiment of the present invention;

FIG. 3 is a diagram of an application scenario of an embodiment of the present invention;

FIG. 4 is a flow chart of a scheduling method of a second embodiment of the present invention;

fig. 5 is a flowchart of a control method of a delivery robot of a third embodiment of the present invention;

FIG. 6 is a schematic diagram of a scheduling system according to a fourth embodiment of the present invention;

fig. 7 is a schematic view of an electronic device of a fifth embodiment of the invention;

fig. 8 is a schematic view of an electronic apparatus according to a seventh embodiment of the present invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The present disclosure is described below based on examples, but the present disclosure is not limited to only these examples. In the following detailed description of the present disclosure, certain specific details are set forth. It will be apparent to those skilled in the art that the present disclosure may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present disclosure.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present disclosure, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified.

Generally, a distribution robot is arranged in a distribution area (such as a cell or a building) based on a distribution robot, an order distributor only needs to place an order in a storage bin of the distribution robot, and the distribution robot starts distribution immediately after the storage bin is full; when the storage bin has a vacant position, the delivery robot waits for a period of time and starts delivery. If all the delivery robots (including the delivery robots having vacant positions in the storage bins) start delivery, the order delivery person needs to wait for at least one delivery robot to return to the delivery point in the delivery area before delivering the order to be delivered to the delivery robot, and thus the order delivery person may wait for a long time. Meanwhile, the vacant positions of the storage bins of the distribution robot are wasted, and therefore the efficiency of the distribution process is affected.

In the following embodiments, a distribution area is taken as an example of a building. Those skilled in the art will readily appreciate that the method of the present embodiment is equally applicable to other distribution areas, such as cells and the like.

FIG. 1 is a system framework diagram of an embodiment of the present invention. As shown in fig. 1, the system architecture includes a delivery robot 11, a server 12, and a terminal 13. The delivery robot 11, the server 12, and the terminal 13 are all connected by communication via a network. The server 12 is used to schedule orders of the first type with customer addresses within the delivery area and to send order assignment messages to the delivery robot 11. After the order assignment message is successfully sent, the server may further send an identifier notification to the terminal 13, and notify the delivery personnel holding the terminal 13 of the identifier of the delivery robot 11 corresponding to each first-type order. After receiving the order assignment message, the delivery robot 11 waits for the identification of the first type order identifier bound to the terminal 13 at a delivery point in the delivery area, and acquires a delivery target (i.e., a real object of the order) delivered by a delivery person, thereby starting to deliver the order.

It should be understood that, in the embodiment of the present invention, the order is data related to the order, and the delivery target is an order entity corresponding to each order.

Fig. 2 is a flowchart of a scheduling method according to a first embodiment of the present invention. The scheduling method is suitable for interaction between the server and the delivery robot. As shown in fig. 2, the scheduling method of this embodiment includes the following steps:

step S100, a first type order with a customer address in a distribution area is obtained.

Specifically, a first type order with a client address in a delivery area is obtained at a server side. In this embodiment, at least one delivery robot for receiving a delivery destination from a delivery point and delivering the delivery destination to a destination address is provided in the delivery area. The first type of order is an order of a delivery person in delivery, and specifically, the first type of order is data of an order of a delivery person in delivery, and may at least include an identifier of the first type of order and a target address of corresponding order delivery.

Step S200, determining the current state information.

In the present embodiment, the status information is status information of the delivery robot. Specifically, the status information of the delivery robot may be an identification of the delivery robot and a corresponding number of empty bins (or number of orders in a bin). It should be understood that the status information of the delivery robot is not limited to the above information, but may be position information of the delivery robot, a waiting time at a delivery point, and the like.

And step S300, reporting the state information.

After determining the self state information, the distribution robot can report the state information to the server through the network.

Step S400, state information of at least one delivery robot is acquired.

In this step, the server receives the status information of at least one delivery robot, so that the delivery robot can be subsequently scheduled according to the status information of the delivery robot.

It should be understood that step S100 and step S400 may be executed simultaneously or sequentially, and the execution order is not necessarily distinguished.

At step S500, an estimated time of arrival of a delivery person for an order of a first type at a delivery point of a delivery area is determined.

Specifically, the server may acquire the current terminal position information of the delivery person and the position information of the delivery point, and calculate the estimated arrival time of the delivery person based on the distance between the position information of the delivery point and the current terminal position information of the delivery person. More specifically, the server may calculate the estimated arrival time based on the average speed of the non-motor vehicles, or may acquire the average moving speed of the terminals of the distribution staff (i.e., the average moving speed of the distribution staff) and calculate the estimated arrival time based on the average moving speed. It should be understood that the manner of calculating the estimated time of arrival is not limited to the above two, and the estimated time of arrival may be calculated in other manners.

Preferably, the server may further adjust the estimated arrival time obtained by the calculation according to the traffic information. Wherein the traffic information is traffic conditions. The traffic condition also affects the moving speed of the delivery personnel, so that the traffic condition between the current condition of the terminal of the delivery personnel and the position of the delivery point can be acquired, and the estimated arrival time can be adjusted according to the traffic condition, so that more accurate estimated arrival time can be acquired.

It should be appreciated that in this step, an estimated time of arrival at the delivery point of the delivery area for a plurality of delivery personnel for the first type of order may be determined.

And step S600, sending scheduling information to the delivery robots according to the state information and the predicted arrival time of the delivery robots so as to schedule the delivery robots.

In a first possible case: if there is an order of the first type whose estimated arrival time is less than the predetermined threshold value and there is a delivery robot in a delivery waiting state near the delivery point, the server may transmit scheduling information to the delivery robot to control the delivery robot to continue to maintain the delivery waiting state until the delivery person completes delivery of the order of the first type. Specifically, when the number of empty bins of the delivery robot is 1 or more, the delivery robot may be in a delivery waiting state. If a plurality of first-class orders with the estimated arrival time smaller than the preset threshold exist, and the number of the first-class orders with the estimated arrival time smaller than the preset threshold is smaller than or equal to the empty warehouse number of the delivery robot in the delivery waiting state, the server sends scheduling information to the delivery robot, so that the delivery robot can receive delivery targets of all the first-class orders.

In the first possible case, the delivery person may directly deliver the delivery target of the first type order to the delivery robot without waiting for the delivery robot to return to the delivery point next, whereby the waiting time of the delivery person can be reduced.

In a second possible scenario: if a plurality of delivery robots in the delivery waiting state exist, the server can acquire the state information of the delivery robots in the delivery waiting state, wherein the state information comprises the identification of the delivery robots and the corresponding empty warehouse number, so that the dispatching information is sent to the delivery robot with the minimum empty warehouse number according to the empty warehouse number of each delivery robot, and the delivery robot is controlled to continuously maintain the delivery waiting state.

For example, there are one delivery robot with the empty bin number of 1 and a plurality of delivery robots with the empty bin number of 2, and the server transmits scheduling information to the delivery robot with the empty bin number of 1, thereby controlling the delivery robot to continue to maintain the delivery waiting state. The delivery robot may begin delivery immediately upon receiving the delivery target for the first type of order. Thus, the delivery efficiency of the delivery robot can be improved.

In a third possible scenario: if a plurality of delivery robots waiting for delivery exist, the server can determine the second type orders of the delivery robots, and send scheduling information to the corresponding delivery robots according to the destination addresses of the second type orders of the delivery robots so as to control the delivery robots to continuously maintain the delivery waiting state. The second type of order is an order that has been delivered to the delivery robot in a waiting delivery state. Specifically, the server may search for a matching received second type order according to the destination address of the first type order, and send scheduling information to the delivery robot that has received the matching second type order, so as to control the delivery robot to continue to maintain the waiting delivery state. More specifically, the destination addresses of the matched second type orders are the same or adjacent destination addresses of the floors.

For example, at the delivery point, there are two delivery robots waiting for delivery, i.e., the delivery robot 1 and the delivery robot 2. The second type of orders contained in the storage bin of the distribution robot 1 are an order 1 and an order 2, the target address of the order 1 is in the 8-layer, and the target address of the order 2 is in the 10-layer; the second type of orders included in the storage compartment of the delivery robot 2 are order 3 and order 4, the destination address of order 3 is at level 5, and the destination address of order 4 is at level 5. The first type of order is order 5, with the destination address for order 5 at level 8. The server matches the destination address of the order 5 with the order 1, the order 2, the order 3 and the order 4, respectively, and the destination address of the order 5 and the destination address of the order 1 are both in 8 layers (that is, the destination address of the order 5 and the destination address of the order 1 are matched), so that the server can send scheduling information to the delivery robot 1. Thus, the delivery robot 1 only needs to go to 8 floors and 10 floors for delivery, and the delivery robot 2 does not need to go to 8 floors for delivery. The two delivery robots can finish delivery by moving a short distance, and the delivery efficiency is improved.

It should be understood that, if there are a plurality of first type orders whose estimated arrival times are smaller than the predetermined threshold and there are a plurality of delivery robots in a delivery waiting state near the delivery point, the server may send scheduling information to the corresponding delivery robots according to the number of empty bins of each delivery robot and the destination addresses of the corresponding second type orders, so as to control the corresponding delivery robots to continue to maintain the delivery waiting state. Thus, the delivery efficiency can be improved.

In a fourth possible scenario: if the first type of orders are required to be ordered or are overtime, the server can send scheduling information to the delivery robot in a delivery waiting state and control the delivery robot to deliver the orders at the highest priority. Specifically, if there is an order of the first type that is being urged or has timed out and there is a delivery robot in a delivery waiting state, the server sends scheduling information to the delivery robot, and controls the delivery robot to start delivery immediately after the delivery robot receives a delivery target of the order of the first type that is being urged or has timed out, specifically, delivers the delivery target of the order of the first type with the highest priority. If a plurality of orders of the first type are invocated or have been overtime, and the number of the invocated or overtime orders of the first type is less than or equal to the number of empty bins of the delivery robot in the delivery waiting state, the delivery robot can receive all the orders of the first type which are invocated or have been overtime, and immediately start delivery according to the control of the server, and particularly, deliver delivery targets of the invocated or overtime orders of the first type at the highest priority. Thus, the waiting time of the client can be reduced.

In a fifth possible scenario: if a plurality of first-class orders exist, the server can determine the second-class orders and the third-class orders of each delivery robot in the delivery area, and obtain the state information of each delivery robot, so that the server sends scheduling information to the corresponding delivery robot according to the target address of the second-class orders, the target address of the third-class orders, the state information of each delivery robot and the predicted arrival time of at least one first-class order, and the delivery robot is scheduled. The third type of order is an order of the delivery robot in the delivery state. Specifically, the delivery robot in the delivery state is a delivery robot that is performing order delivery. In a fifth possible case, the status information of the delivery robot in the delivery waiting state may be the number of empty bins, and the status information of the delivery robot in the delivery state may be the position information of the delivery robot.

Specifically, the server may determine a plurality of assignment manners of the first type of order, and for each assignment manner, the server may calculate efficiency parameters according to the target address of the second type of order, the target address of the third type of order, the position of the delivery robot, and the expected arrival time of at least one first type of order, and select an assignment manner in which the efficiency parameters satisfy a predetermined condition (e.g., optimal), so as to schedule the delivery robot. The delivery efficiency may be the number of orders delivered by the delivery robot in a unit time.

For example, the orders being delivered by the delivery person (i.e., the first type orders) are order 1 and order 2, two delivery robots are included in the delivery area, the delivery robot 1 is a delivery robot in a waiting delivery state, and the delivery robot 2 is a delivery robot in a delivery state. The second type of order of the delivery robot 1 is order 3, and the third type of order of the delivery robot 2 is order 4. The server may determine assignment 1: assigning order 1 and order 2 to the delivery robot 1; assignment method 2: assign order 1 and order 2 to delivery robot 2; assignment method 3: order 1 is assigned to delivery robot 1, and order 2 is assigned to delivery robot 2. Taking the assignment method 1 as an example, the server may plan a delivery path of the delivery robot 1, where the planned delivery path may be: delivery point → target location for order 1 → target location for order 2 → target location for order 3 → delivery point. The estimated arrival time of the delivery person acquired by the server (i.e., the waiting time of the delivery robot 1 at the delivery point) is t1, the estimated delivery time from the delivery point to the target position of the order 1 is t2, the estimated delivery time from the target position of the order 1 to the target position of the order 2 is t3, the estimated delivery time from the target position of the order 2 to the target position of the order 3 is t4, the estimated delivery time from the target position of the order 3 back to the delivery point (i.e., from the delivery point to the target position of the order 3) is t5, so the estimated return time of the delivery robot 1 is t1+ t2+ t3+ t4+ t5, the number of delivered orders is 3, and the server can thereby obtain the delivery efficiency of the assignment mode 1 as 3/(t1+ t2+ t3+ t4+ t 5). The distribution efficiency of assignment 2 can also be calculated in the manner described above. For the distribution efficiency of the assignment method 3 and the assignment method 4, the distribution efficiency of the distribution robot 2 of the distribution robot 1 can be calculated in the above manner and given different weights, thereby obtaining the distribution efficiency of the assignment method 3 and the assignment method 4. Therefore, the server can determine the optimal assignment mode of the efficiency parameters and schedule the delivery robots, and therefore the efficiency of the delivery process is improved.

Alternatively, the server may obtain historical delivery data of the delivery robot, and obtain time from the delivery point to each floor and time from a predetermined floor to other floors of the delivery robot as expected delivery time of the delivery robot between different floors according to the historical delivery data. The historical delivery data can be the residence time of the delivery robot on different floors. Specifically, the server may train a classification model (e.g., a decision tree, a support vector machine, etc.) according to the historical delivery data to obtain the expected delivery time of the delivery robot between different floors, or may obtain the expected delivery time of the delivery robot between different floors by calculating an average of the historical delivery data. Therefore, the server can acquire the delivery time of the delivery robot between different floors according to the position of the delivery robot and the target position of the corresponding third type order, so as to acquire the predicted return time of the delivery robot.

Specifically, the server may also plan an optimal scheduling manner of the first type order by an optimization method, with a target address of the second type order, a target address of the third type order, a position of the delivery robot, and an estimated arrival time of at least one first type order as constraints.

For example, the orders being delivered by the delivery personnel are order 1 and order 2, two delivery robots are included in the delivery area, the delivery robot 1 is a delivery robot in a delivery waiting state, and the delivery robot 2 is a delivery robot in a delivery state. The second type of order of the delivery robot 1 is order 3, and the third type of order of the delivery robot 2 is order 4. When the floors of the destination addresses of order 1 and order 2 are the same or adjacent and the estimated arrival time of the delivery person is close to the estimated return time of the delivery robot 2, the server may transmit the schedule information to the delivery robot 2. When the floors of the destination addresses of order 1 and order 3 are the same or adjacent and the estimated arrival time of the corresponding delivery person is less than a predetermined threshold value, scheduling information may be transmitted to the delivery robot 1. Therefore, the server can plan an optimized scheduling mode of the first type of orders, and therefore the efficiency of the delivery process is improved.

In a sixth possible scenario: if the order is called or the second type order is overtime, the server can send a scheduling instruction to the corresponding delivery robot to control the delivery robot to start delivery, and specifically control the delivery robot to deliver the order with the highest priority or the second type order which is overtime. Generally, when the delivery robot is in the delivery waiting state, even if the second type of order is ordered or has timed out in the warehouse, the delivery waiting state is kept, and the delivery is not started until the time in the delivery waiting state exceeds the preset time. Therefore, the server may send a scheduling instruction to the corresponding delivery robot, so that the delivery robot immediately starts delivery and preferentially delivers the order of the second type which is urged to be ordered or has timed out. Therefore, the efficiency of the distribution process can be improved, and the waiting time of the customer can be reduced.

It is to be understood that the above possibilities may occur separately or may occur partially or all at the same time. When the above possible situations occur simultaneously, the server may schedule the delivery robots according to the corresponding scheduling methods.

Step S700, receiving the scheduling information and determining the state mode according to the scheduling information.

Wherein the status mode includes a wait for delivery status and a delivery status. Specifically, the delivery robot maintains a delivery waiting state or starts delivery in response to receiving the scheduling information.

For example, when the scheduling information is used to control the delivery robot to maintain the delivery waiting state, the delivery robot continues to maintain the delivery waiting state; the scheduling information is used to control the robot to start the delivery robot to deliver when the robot changes to the delivery state.

Preferably, the scheduling method of this embodiment may further include the following steps:

step S800, sending an order assignment message.

After the server sends the scheduling information to the corresponding delivery robot, the server can also send an order assignment message to the corresponding delivery robot. The order assignment message is used to bind the first type of order with the delivery robot that received the order assignment message. Preferably, after the first type orders and the delivery robots are bound, the server may further send an identification notification to the delivery staff to inform the delivery staff of the identifications of the delivery robots corresponding to the first type orders.

In step S900, an order assignment message is received.

The distribution robot may bind the assigned first type order with itself after receiving the order assignment message. Preferably, upon successful binding, a notification of successful binding may also be sent to the server.

Step S1000, responding to the first type of order identification assigned, opening a warehouse and receiving a delivery target.

In this step, the delivery personnel may match the delivery robots according to the first type of order identifiers, and preferably, may also match the delivery robots according to the identifiers of the delivery robots corresponding to the first type of order identifiers. When the delivery robot receives the assigned first type order identification (namely, matching is successful), the delivery robot opens the warehouse to receive the delivery target of the assigned first type order.

In this embodiment, the delivery robot may perform delivery based on at least one of its own status information, a destination address of the second type order, and a destination address of the third type order. Specifically, the delivery robot may plan a delivery path at the delivery point according to the target location of the second type of order, or plan or adjust the delivery path during the delivery process according to the location information of the delivery robot and the target address of the third type of order, so that the delivery path is optimal, for example, the shortest path. Thereby improving the efficiency of the distribution process and improving the customer satisfaction.

Fig. 3 is a diagram of an application scenario of an embodiment of the present invention. As shown in fig. 3, the server may obtain a plurality of orders to be allocated (i.e., orders of the first type) and corresponding estimated arrival times and display them in an order to be allocated display window 31, where the orders to be allocated may be order 1, order 2, order 3, and order 4. The server may further obtain a plurality of allocated orders (including the second type orders and the third type orders) and corresponding delivery robots and information thereof, and display them in the allocated order display window 32, where the delivery robots and information thereof (i.e., status information of the delivery robots) are not limited to the delivery robot identification and delivery status, and may further include locations, empty bin numbers, and the like. After acquiring the to-be-distributed order and the corresponding estimated arrival time as well as the distributed order and the corresponding delivery robot and the information thereof, the server may schedule the to-be-distributed order and display the scheduling result in the scheduling result display window 33, the order 1 and the order 4 may be assigned to the robot 1, the order 2 and the order 3 may be assigned to the robot 3, and meanwhile, the server may further send the scheduling result as an order assignment message to the robot 1 and the robot 3, respectively, so that the robot 1 and the robot 3 can open a warehouse to receive a delivery target in subsequent response to receiving the assigned first type of order identifier.

Fig. 4 is a flowchart of a scheduling method according to a second embodiment of the present invention. The scheduling method of the embodiment is suitable for the server. As shown in fig. 4, the scheduling method of this embodiment includes the following steps:

Step S400, state information of at least one delivery robot is acquired.

Thus, the server can schedule the delivery robot.

Preferably, the scheduling method of this embodiment further includes the following steps:

step S800, sending an order assignment message.

Thus, the server can bind the first type of order with the corresponding delivery robot.

Fig. 5 is a flowchart of a control method of a delivery robot according to a third embodiment of the present invention. The control method of the delivery robot of the present embodiment is applicable to the delivery robot. As shown in fig. 5, the control method of the dispensing robot of the present embodiment includes the steps of:

step S200, determining the current state information.

And step S300, reporting the state information.

Thus, the delivery robot can determine its own status mode based on the scheduling information.

Preferably, the control method of the dispensing robot of the present embodiment may further include the steps of:

in step S900, an order assignment message is received.

Thus, the delivery robot can receive the delivery targets of the corresponding first type orders according to the order assignment message.

Fig. 6 is a schematic diagram of a scheduling system according to a fourth embodiment of the present invention. As shown in fig. 6, the scheduling system of the present embodiment includes a scheduling device a and a control device B of the delivery robot.

The scheduling apparatus a includes a first obtaining unit 601, a second obtaining unit 602, a first determining unit 603, and a first sending unit 604.

The first obtaining unit 601 is configured to obtain a first type of order of a delivery address in a delivery area, where at least one delivery robot is disposed in the delivery area and is configured to receive a delivery target from a delivery point and deliver the delivery target to the target address, where the first type of order is an order of a delivery person in delivery. The second obtaining unit 602 is configured to obtain status information of the at least one delivery robot. The first determination unit 603 is used to determine the expected arrival time of the delivery person at the delivery point of the delivery area. The first sending unit 604 is configured to send scheduling information to the delivery robot according to the status information of the delivery robot and the expected arrival time, so as to schedule the delivery robot.

Further, the first sending unit 604 includes a first sending subunit.

The first sending subunit is used for responding to at least one first type order with the expected arrival time smaller than the preset threshold value and a delivery robot in a delivery waiting state, and sending scheduling information to the delivery robot so as to control the delivery robot to continue to maintain the delivery waiting state.

Further, the first sending unit 604 comprises a second sending subunit.

The second sending subunit is configured to, in response to that there are a plurality of the delivery robots in a delivery waiting state, send the scheduling information to the delivery robot with the smallest number of empty bins, so as to control the delivery robot to continue to maintain the delivery waiting state.

Further, the first sending unit 604 includes a first determining subunit and a third sending subunit.

The first determining subunit is configured to determine, in response to that there are a plurality of the delivery robots in a delivery waiting state, a second type of order for each of the delivery robots, where the second type of order is an order that has been delivered to the delivery robots in the delivery waiting state. And the third sending subunit is used for sending the scheduling information to the delivery robots according to the destination addresses of the second type orders received by the delivery robots so as to control the delivery robots to continuously keep a delivery waiting state.

Further, the third sending subunit includes a first sending module.

The first sending module is used for sending the scheduling information to the delivery robots according to the target addresses of the second type orders received by the delivery robots.

Further, the third sending subunit includes a searching module and a second sending module.

The searching module is used for searching the matched received second type order according to the target address of the first type order. The second sending module is used for sending the scheduling information to the delivery robot receiving the matched second type order.

Further, the destination address of the matched second type order is the same as or adjacent to the destination address of the floor.

Further, the first sending unit 604 includes a fourth sending subunit.

The fourth sending subunit is configured to send the scheduling information to the delivery robot in a delivery waiting state in response to the existence of the order of the first type that is urged to be ordered or is timed out, so as to control the delivery robot to start delivering after receiving a delivery target of the order of the first type that is urged to be ordered or is timed out, and control the delivery robot to deliver the order of the first type that is urged to be ordered or is timed out at the highest priority.

Further, the first sending unit 604 includes a fifth sending subunit.

The fifth sending subunit is configured to send, in response to a second type of order which is solicited or is overtime, the scheduling information to a delivery robot corresponding to the second type of order, so as to control the delivery robot to start delivery, and control the delivery robot to deliver the solicited or overtime second type of order with the highest priority, where the second type of order is an order already delivered to the delivery robot in a waiting delivery state.

Further, the first sending unit 604 includes a second determining subunit and a sixth sending subunit.

The second determining subunit is configured to determine a second type of order and a third type of order of each distribution robot in the distribution area, where the third type of order is an order of the distribution robot in the distribution state. The sixth sending subunit is configured to send the scheduling information to the delivery robot according to the destination address of the second type of order, the destination address of the third type of order, the position of the delivery robot, and the expected arrival time of at least one first type of order.

Further, the sixth sending subunit includes a determining module, a calculating module, and a third sending module.

The determining module is used for determining a plurality of assignment modes of the first type of orders. And the calculation module is used for calculating efficiency parameters according to the target addresses of the second type orders, the third type orders, the positions of the delivery robots and the predicted arrival time of at least one first type order for each assignment mode. And the third sending module is used for selecting an assignment mode with the efficiency parameter meeting a preset condition and sending the scheduling information to the corresponding delivery robot.

Further, the sixth transmitting subunit includes a planned transmitting module.

The planning and sending module is used for planning a target scheduling mode of the first type of orders by using a target address of the second type of orders, a target address of the third type of orders, a position of the delivery robot and the predicted arrival time of at least one first type of orders as constraint conditions through an optimization method and sending the scheduling information to the corresponding delivery robot.

Further, the scheduling apparatus a further includes a second sending unit 605.

Wherein the second sending unit 605 sends an order assignment message for binding the first type of order with the delivery robot receiving the order assignment message.

The control device B of the delivery robot includes a second determining unit 606, a reporting unit 607, and a first receiving unit 608.

Wherein the second determining unit 606 is configured to determine the current state information. The reporting unit 607 is configured to report the status information. The first receiving unit 608 is configured to receive scheduling information, and determine a status mode according to the scheduling information, where the status mode includes a delivery waiting status and a delivery status.

Further, the first receiving unit 608 comprises a state control subunit.

The state control subunit is used for responding to the received scheduling information, and keeping a delivery waiting state or starting delivery.

Further, the control device B of the delivery robot further includes a second receiving unit 609 and a third receiving unit 610.

Wherein the second receiving unit 609 is configured to receive an order assignment message, which is used to bind the first type of order with the current delivery robot. The third receiving unit 610 opens a warehouse to receive a delivery target in response to receiving the assigned first type order identification.

Further, the control device B of the delivery robot further includes a third determination unit 610.

The third determining unit 610 is configured to perform delivery according to at least one of the status information, a destination address of a second type of order, and a destination address of a third type of order, where the second type of order is an order delivered to a delivery robot in a waiting delivery state, and the third type of order is an order of the delivery robot in a delivery state.

Fig. 7 is a schematic view of an electronic device according to a fifth embodiment of the present invention. As shown in fig. 7, the electronic device: includes at least one processor 701; and, a memory 702 communicatively coupled to the at least one processor 701; and a communication component 703 communicatively coupled to the scanning device, the communication component 703 receiving and transmitting data under the control of the processor 701; wherein the memory 702 stores instructions executable by the at least one processor 701 to perform, by the at least one processor 701, the steps of:

acquiring state information of the at least one delivery robot;

Further, the transmitting scheduling information to the delivery robot according to the status information of the delivery robot and the estimated time of arrival includes:

and in response to at least one first type order with the predicted arrival time smaller than the preset threshold value and one delivery robot in the delivery waiting state, sending scheduling information to the delivery robot to control the delivery robot to continuously maintain the delivery waiting state.

Further, the transmitting the scheduling information to the delivery robot according to the status information of the delivery robot and the estimated time of arrival includes:

and in response to the fact that a plurality of delivery robots are in a delivery waiting state, sending the scheduling information to the delivery robot with the least empty warehouse number so as to control the delivery robots to continuously maintain the delivery waiting state.

in response to the fact that a plurality of delivery robots are in a delivery waiting state, determining a second type of order of each delivery robot, wherein the second type of order is an order delivered to the delivery robots in the delivery waiting state; and

and sending the scheduling information to the delivery robots according to the destination addresses of the second type of orders received by the delivery robots so as to control the delivery robots to continuously keep a delivery waiting state, wherein the second type of orders are orders delivered to the delivery robots in the delivery waiting state.

Further, the sending the scheduling information to the delivery robots according to the destination addresses of the second type orders received by the delivery robots includes:

searching the matched received second type order according to the target address of the first type order;

and sending the scheduling information to the delivery robot receiving the matched second type order.

and responding to the first type of orders which are invocated or overtime, sending the scheduling information to the delivery robot in a delivery waiting state, so as to control the delivery robot to start delivery after receiving the delivery target of the first type of orders which are invocated or overtime, and control the delivery robot to deliver the invocated or overtime first type of orders at the highest priority.

and responding to the second type of orders which are ordered or overtime, sending the scheduling information to the delivery robot corresponding to the second type of orders so as to control the delivery robot to start for delivery, and controlling the delivery robot to deliver the ordered or overtime second type of orders at the highest priority, wherein the second type of orders are orders delivered to the delivery robot in a waiting delivery state.

determining a second type of order and a third type of order of each distribution robot in a distribution area, wherein the second type of order is an order delivered to the distribution robot in a waiting delivery state, and the third type of order is an order of the distribution robot in a distribution state;

and sending the scheduling information to the delivery robot according to the target address of the second type of order, the target address of the third type of order, the position of the delivery robot and the predicted arrival time of at least one first type of order.

Further, the sending the scheduling information to the delivery robot according to the destination address of the second type order, the destination address of the third type order, the location of the delivery robot, and the estimated arrival time of at least one first type order includes:

determining a plurality of assignment modes of the first type of orders;

for each assignment mode, respectively calculating efficiency parameters according to the target addresses of the second type orders, the target addresses of the third type orders, the positions of the delivery robots and the predicted arrival time of at least one first type order;

and selecting an assignment mode with efficiency parameters meeting preset conditions, and sending the scheduling information to the corresponding delivery robot.

and planning a target scheduling mode of the first type of orders by using the target address of the second type of orders, the target address of the third type of orders, the position of the delivery robot and the predicted arrival time of at least one first type of orders as constraint conditions through an optimization method, and transmitting the scheduling information to the corresponding delivery robot.

Further, the electronic device is configured to further implement the following steps:

sending an order assignment message for binding the first type of order with a delivery robot receiving the order assignment message.

Specifically, the electronic device includes: one or more processors 701 and a memory 702, one processor 701 being illustrated in fig. 7. The processor 701 and the memory 702 may be connected by a bus or by other means, and fig. 7 illustrates an example of a bus connection. Memory 702, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 701 executes various functional applications of the device and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 702, that is, implements the scheduling method described above.

The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory 702 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 702 may optionally include memory located remotely from the processor 701, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 702, and when executed by the one or more processors 701, perform the scheduling method in any of the method embodiments described above.

The above-mentioned product can execute the method provided by the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method, and the technical details not described in detail in the embodiment can be referred to the scheduling method provided by the embodiment of the present application.

A sixth embodiment of the present invention is directed to a non-volatile storage medium storing a computer-readable program for causing a computer to perform some or all of the above embodiments of the scheduling method.

That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Fig. 8 is a schematic view of an electronic apparatus according to a seventh embodiment of the present invention. As shown in fig. 8, the electronic device: includes at least one processor 801; and a memory 802 communicatively coupled to the at least one processor 801; and a communication component 803 communicatively coupled to the scanning device, the communication component 803 receiving and transmitting data under control of the processor 801; wherein the memory 802 stores instructions executable by the at least one processor 801 to implement:

determining current state information;

reporting the state information;

Further, the determining the status mode according to the scheduling information includes:

in response to receiving the scheduling information, maintaining a wait for delivery state or departing for delivery.

receiving an order assignment message, wherein the order assignment message is used for binding a first type of order with a current delivery robot;

responsive to receiving the assigned first type order identification, the opening receives a delivery target.

and delivering according to at least one item of the state information, a target address of a second type order and a target address of a third type order, wherein the second type order is an order delivered to the delivery robot in a waiting delivery state, and the third type order is an order of the delivery robot in a delivery state.

Specifically, the electronic device includes: one or more processors 801 and a memory 802, one processor 801 being illustrated in fig. 8. The processor 801 and the memory 802 may be connected by a bus or other means, and fig. 8 illustrates an example of a connection by a bus. Memory 802, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 801 executes various functional applications of the device and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 802, thereby implementing the control method of the dispensing robot described above.

The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 802 may optionally include memory located remotely from the processor 801, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 802, and when executed by the one or more processors 801, perform the control method of the dispensing robot in any of the method embodiments described above.

The product can execute the method provided by the embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and reference can be made to the control method of the distribution robot provided by the embodiment of the application without detailed technical details in the embodiment.

An eighth embodiment of the present invention is directed to a nonvolatile storage medium storing a computer-readable program for causing a computer to execute some or all of the above-described embodiments of the method for controlling a dispensing robot.

The embodiment of the invention discloses A1 and a scheduling method, wherein the method comprises the following steps:

and planning a target scheduling mode of the first type of orders by taking the position of the delivery robot and/or the predicted arrival time of at least one first type of order as a constraint condition, and transmitting the scheduling information to the corresponding delivery robot so as to schedule the delivery robot.

A2, the scheduling method as in a1, wherein the planning of the target scheduling manner of the first type of order with the position of the delivery robot and/or the estimated arrival time of at least one first type of order as constraints includes:

acquiring state information of at least one delivery robot;

A3, the scheduling method as in a1, wherein the planning of the target scheduling manner of the first type of order with the position of the delivery robot and/or the estimated arrival time of at least one first type of order as constraints includes:

acquiring state information of at least one delivery robot;

A4, the scheduling method as in a1, wherein the planning of the target scheduling manner of the first type of order with the position of the delivery robot and/or the estimated arrival time of at least one first type of order as constraints includes:

acquiring state information of at least one delivery robot;

and sending the scheduling information to the delivery robots according to the destination addresses of the second type orders received by the delivery robots so as to control the delivery robots to continuously keep a delivery waiting state.

A5, the method for scheduling as in a4, wherein the sending the scheduling information to the delivery robots according to the destination addresses of the second type orders received by each delivery robot includes:

and sending the scheduling information to the delivery robot which receives the matched second type order.

A6, the dispatching method according to A5, wherein the destination address of the matched second type order is the same as or adjacent to the destination address of the floor.

A7, the scheduling method as in a1, wherein the planning of the target scheduling manner of the first type of order with the position of the delivery robot and/or the estimated arrival time of at least one first type of order as constraints includes:

acquiring state information of at least one delivery robot;

A8, the method for scheduling as in a4, wherein the sending the scheduling information to the delivery robots according to the destination addresses of the second type orders received by each delivery robot includes:

and responding to the second type of orders which are invoiced or overtime, sending the scheduling information to the delivery robot corresponding to the second type of orders so as to control the delivery robot to start for delivery, and controlling the delivery robot to deliver the invoiced or overtime second type of orders at the highest priority.

A9, the method for scheduling as in a4, wherein the sending the scheduling information to the delivery robots according to the destination addresses of the second type orders received by each delivery robot includes:

determining a second type of order and a third type of order of each distribution robot in a distribution area, wherein the third type of order is the order of the distribution robot in a distribution state;

A10, the method for scheduling in A9, wherein the sending the scheduling information to the delivery robot according to the destination address of the second type order, the destination address of the third type order, the position of the delivery robot and the predicted arrival time of at least one first type order comprises:

determining a plurality of assignment modes of the first type of orders;

A11, the scheduling method as in a1, wherein the step of planning a target scheduling manner for the first type of order with the position of the delivery robot and/or the estimated arrival time of at least one first type of order as constraints comprises the steps of:

acquiring state information of at least one delivery robot;

A12, the scheduling method of a1, the method further comprising:

The embodiment of the invention also discloses B1 and a control method of the distribution robot, wherein the method comprises the following steps:

receiving scheduling information, and determining a state mode according to the scheduling information, wherein the state mode comprises a delivery waiting state and a delivery state, the scheduling information is determined according to a target scheduling mode, and the target scheduling mode is obtained by planning with the position of a delivery robot and the predicted arrival time of at least one first type order as constraint conditions.

B2, the method for controlling a dispensing robot according to B1, further comprising:

determining current state information;

and reporting the state information.

B3, the method for controlling a delivery robot according to B1, wherein the determining the status pattern according to the scheduling information includes:

B4, the method for controlling a dispensing robot according to B1, further comprising:

B5, the method for controlling a dispensing robot according to B1, further comprising:

determining current state information;

The embodiment of the invention also discloses C1 and a scheduling device, wherein the scheduling device comprises:

and the first sending unit is used for planning a target scheduling mode of the first type order by taking the position of the delivery robot and/or the predicted arrival time of at least one first type order as a constraint condition, and sending the scheduling information to the corresponding delivery robot.

The embodiment of the invention also discloses D1 and a control device of the distribution robot, wherein the control device comprises:

the first receiving unit is used for receiving scheduling information and determining a state mode according to the scheduling information, wherein the state mode comprises a delivery waiting state and a delivery state, the scheduling information is determined according to a target scheduling mode, and the target scheduling mode is obtained by planning with the position of a delivery robot and/or the predicted arrival time of at least one first type order as constraint conditions.

Embodiments of the invention also disclose E1, a computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method as defined in any one of a1-a 17.

The embodiment of the invention also discloses F1, an electronic device, comprising a memory and a processor, wherein the memory is used for storing one or more computer program instructions, and the one or more computer program instructions are executed by the processor to realize the following steps:

and planning a target scheduling mode of the first type of orders by taking the position of the delivery robot and/or the predicted arrival time of at least one first type of order as a constraint condition, and transmitting the scheduling information to the corresponding delivery robot.

F2, in the electronic device according to F1, the planning a target scheduling manner for the first type of order using the position of the delivery robot and/or the estimated arrival time of at least one first type of order as a constraint condition, and the sending the scheduling information to the corresponding delivery robot includes:

acquiring state information of at least one delivery robot;

F3, in the electronic device according to F1, the planning a target scheduling manner for the first type of order using the position of the delivery robot and/or the estimated arrival time of at least one first type of order as a constraint condition, and the sending the scheduling information to the corresponding delivery robot includes:

acquiring state information of at least one delivery robot;

F4, in the electronic device according to F1, the planning a target scheduling manner for the first type of order using the position of the delivery robot and/or the estimated arrival time of at least one first type of order as a constraint condition, and the sending the scheduling information to the corresponding delivery robot includes:

acquiring state information of at least one delivery robot;

F5, the electronic device according to F4, wherein the sending the scheduling information to the delivery robots based on the destination addresses of the second type orders received by each delivery robot includes:

F6, the electronic device as described in F5, wherein the destination address of the matched second type order is the same as or adjacent to the destination address of the floor.

F7, in the electronic device according to F1, the planning a target scheduling manner for the first type of order using the position of the delivery robot and/or the estimated arrival time of at least one first type of order as a constraint condition, and the sending the scheduling information to the corresponding delivery robot includes:

acquiring state information of at least one delivery robot;

F8, the electronic device according to F4, wherein the sending the scheduling information to the delivery robots based on the destination addresses of the second type orders received by each delivery robot includes:

F9, the electronic device according to F4, wherein the sending the scheduling information to the delivery robots based on the destination addresses of the second type orders received by each delivery robot includes:

F10, the electronic device according to F9, wherein the sending the scheduling information to the delivery robot according to the destination address of the second type order, the destination address of the third type order, the location of the delivery robot, and the estimated arrival time of at least one first type order includes:

determining a plurality of assignment modes of the first type of orders;

F11, in the electronic device according to F1, the planning a target scheduling manner for the first type of order using the position of the delivery robot and/or the estimated arrival time of at least one first type of order as a constraint condition, and the sending the scheduling information to the corresponding delivery robot includes:

acquiring state information of at least one delivery robot;

F12, the electronic device as described in F1, the electronic device is used for further realizing the following steps:

The embodiment of the invention also discloses G1, an electronic device, comprising a memory and a processor, wherein the memory is used for storing one or more computer program instructions, and the one or more computer program instructions are executed by the processor to realize the following steps:

receiving scheduling information, and determining a state mode according to the scheduling information, wherein the state mode comprises a delivery waiting state and a delivery state, the scheduling information is determined according to a target scheduling mode, and the target scheduling mode is obtained by planning with the position of a delivery robot and/or the predicted arrival time of at least one first type order as a constraint condition.

G2, the electronic device of G1, the electronic device further implementing the steps of:

determining current state information;

and reporting the state information.

G3, the electronic device of G1, wherein the determining the status pattern according to the scheduling information includes:

G4, the electronic device of G1, the electronic device further implementing the steps of:

G5, the electronic device of G1, the electronic device further implementing the steps of:

determining current state information;

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific embodiments for practicing the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

1. A method of scheduling, the method comprising:

2. The scheduling method according to claim 1, wherein the planning of the target scheduling manner of the first type order using the position of the delivery robot and/or the predicted arrival time of at least one first type order as a constraint condition, and the sending of the scheduling information to the corresponding delivery robot comprises:

acquiring state information of at least one delivery robot;

3. The scheduling method according to claim 1, wherein the planning of the target scheduling manner of the first type order using the position of the delivery robot and/or the predicted arrival time of at least one first type order as a constraint condition, and the sending of the scheduling information to the corresponding delivery robot comprises:

acquiring state information of at least one delivery robot;

4. The scheduling method according to claim 1, wherein the planning of the target scheduling manner of the first type order using the position of the delivery robot and/or the predicted arrival time of at least one first type order as a constraint condition, and the sending of the scheduling information to the corresponding delivery robot comprises:

acquiring state information of at least one delivery robot;

5. A method of controlling a dispensing robot, the method comprising:

6. A scheduling apparatus, the apparatus comprising:

7. A control device for a dispensing robot, characterized in that the device comprises:

8. A computer-readable storage medium on which computer program instructions are stored, which, when executed by a processor, implement the method of any one of claims 1-5.

9. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to perform the steps of:

10. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to perform the steps of: