CN106228302A - A kind of method and apparatus for carrying out task scheduling in target area - Google Patents

A kind of method and apparatus for carrying out task scheduling in target area Download PDF

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Publication number
CN106228302A
CN106228302A CN201610576336.1A CN201610576336A CN106228302A CN 106228302 A CN106228302 A CN 106228302A CN 201610576336 A CN201610576336 A CN 201610576336A CN 106228302 A CN106228302 A CN 106228302A
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CN
China
Prior art keywords
task
tasks
information
mobile robot
pending
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CN201610576336.1A
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Chinese (zh)
Inventor
冯源
赵越
戴萧何
叶杨笙
王群
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上海仙知机器人科技有限公司
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Priority to CN201610576336.1A priority Critical patent/CN106228302A/en
Publication of CN106228302A publication Critical patent/CN106228302A/en

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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/06Resources, workflows, human or project management, e.g. organising, planning, scheduling or allocating time, human or machine resources; Enterprise planning; Organisational models
    • G06Q10/063Operations research or analysis
    • G06Q10/0631Resource planning, allocation or scheduling for a business operation
    • G06Q10/06311Scheduling, planning or task assignment for a person or group
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/28Logistics, e.g. warehousing, loading, distribution or shipping

Abstract

The purpose of the application is to provide a kind of method and apparatus for carrying out task scheduling in target area;Obtaining the one or more pending task in target area, wherein, tasks carrying position corresponding to each pending task is contained in described target area;The one or more pending task is provided to corresponding mobile robot.Compared with prior art, the application is coordinated by the scheduling between the network equipment with mobile robot, can be based on general existing task scheduling environment, execution environment such as common storage environment or other multitasks, task-scheduling operation is realized such as hospital ward environment etc., it is not required to existing environment is carried out adaptability reform, it is thus possible to reduce the actual resources costs come into operation, portability is higher, is suitable for scene extensive.

Description

A kind of method and apparatus for carrying out task scheduling in target area
Technical field
The application relates to computer realm, particularly relates to a kind of technology for carrying out task scheduling in target area.
Background technology
The existing task-scheduling operation carried out in target area, the most traditional warehoused cargo scheduling, it is common that base Realizing the carrying of goods in manpower and join goods, operation cost is high, personal management difficulty.Further, existing automatization goods is removed Transportation method, has the highest requirement for storage environment, it usually needs existing storage environment is carried out corresponding accessories rebuilding, example As, storage environment needs the navigation marker thing guiding floor truck, such as ground two-dimension code label figure, in order to guide Floor truck moves.Thus, higher storage environment can be brought supporting or improvement cost;Guide with navigation marker thing simultaneously and remove The method that fortune dolly moves is the most dull, lacks the motility of task scheduling, it is impossible to the task of better adapting to complexity is adjusted Degree needs.
Summary of the invention
The purpose of the application is to provide a kind of method and apparatus for carrying out task scheduling in target area.
An aspect according to the application, it is provided that one is used for carrying out task tune in target area at network equipment end The method of degree, including:
Obtaining the one or more pending task in target area, wherein, task corresponding to each pending task is held Line position is contained in described target area;
The one or more pending task is provided to corresponding mobile robot.
An aspect according to the application, additionally provides and a kind of appoints for carrying out in target area in mobile robotic end The method of business scheduling, including:
Receive the one or more pending task in the corresponding target area that map network equipment provides, wherein, each Tasks carrying position corresponding to pending task is contained in described target area;
The mobile tasks carrying position to correspondence is to perform corresponding pending task.
According to the another aspect of the application, additionally provide a kind of network for carrying out task scheduling in target area and set Standby, including:
First device, for obtaining the one or more pending task in target area, wherein, each pending task Corresponding tasks carrying position is contained in described target area;
Second device, for providing the one or more pending task to corresponding mobile robot.
According to the another further aspect of the application, additionally provide a kind of moving machine for carrying out task scheduling in target area Device people, including:
8th device, one or more pending in receiving the corresponding target area that map network equipment provides Business, wherein, tasks carrying position corresponding to each pending task is contained in described target area;
9th device, for the mobile tasks carrying position to correspondence to perform corresponding pending task.
According to the another aspect of the application, additionally provide a kind of system for carrying out task scheduling in target area, Wherein said system includes: a kind of net for carrying out task scheduling in target area on the other hand provided according to the application Network equipment, and a kind of mobile machine for carrying out task scheduling in target area provided according to the application another further aspect People.
Compared with prior art, one or more the waiting obtained in target area by the described network equipment in the application is held Row task, and then the one or more pending task is provided to corresponding mobile robot, wherein, described each waiting is held Row task needs the tasks carrying position meeting its correspondence to be contained in described target area.Here, by the described network equipment Integrated scheduling, can neatly by pending for the one or more in certain target area task be assigned to correspondence Mobile robot, thus better adapt to large batch of, complicated task scheduling needs.Further, corresponding mobile machine People is by based on the described pending task got from the network equipment, and the mobile tasks carrying position to correspondence is to perform correspondence Pending task.Here, preferably, if the one or more pending task that each mobile robot is received is corresponding Tasks carrying position Relatively centralized, then so that the overall displacement of mobile robot is shorter or moving area is concentrated, Thus improve the overall execution efficiency of described pending task.Here, the application by the network equipment and mobile robot it Between scheduling coordinate, can be based on general existing task scheduling environment, such as common storage environment or other multitasks Perform environment, realize task-scheduling operation such as hospital ward environment etc., be not required to existing environment is carried out adaptability reform, from And the actual resources costs come into operation can be reduced, portability is higher, is suitable for scene extensive.
Further, in a preferred embodiment, as a example by application scenarios of storing in a warehouse, each can be ordered by the described network equipment Single information merges, thus provides merging order to corresponding mobile robot.In the present embodiment, can be by corresponding Merging algorithm, one or more sequence informations close together are merged into one merge order, based on this merging order pair The order object of the sequence information answered determines the one or more pending task and provides to corresponding mobile robot.This Embodiment can be taken into account when performing task in units of tasks carrying position in mobile loading process simultaneously, described mobile machine The displacement of people's entirety is shorter or moving area is concentrated;And with the sequence information with service interfacing as list in packaging operation Unit's output, reduces the operation that order object merges again, improves the dispatching efficiency of entirety.
Further, in another preferred embodiment, as a example by application scenarios of storing in a warehouse, the described network equipment can be based on obtaining The sequence information taken, generates the pending task of one or more candidate, merging based on task pending to described candidate, determines The one or more pending task of described target area, wherein, described each pending task is both contained in described candidate and holds In row task, and tasks carrying position corresponding to each pending task is contained in described target area.In the present embodiment, may be used With preferably in storage application scenarios by the analysis to sequence information, determine that the candidate that can be processed by mobile robot wait to hold Row task, and merged by described network equipment task pending to described candidate, to determine corresponding to described target area The one or more pending task in territory, and then described pending after robot performs above-mentioned merging can be moved accordingly Business.Preferably, each pending task that described target area is corresponding can also meet certain threshold condition so that corresponding Mobile robot when processing the one or more pending task combined, the displacement of its entirety is shorter or moves Dynamic regional centralized, thus improve the overall execution efficiency of described pending task.
Further, in a preferred embodiment, the described network equipment can send to described mobile machine Crinis Carbonisatus and perform instruction, Such as first task performs instruction, in order to instruct the described mobile robot tasks carrying position by current pending task place The mobile tasks carrying position to predetermined pending task place;And for example, the second task-performance instructions is in order to treat based on described The modification information that execution task is corresponding, instructs described mobile robot and is moved by the tasks carrying position at current pending task place Move the tasks carrying position to next pending task place;And for example Fault handling instruction;Or charging instruction.Here, network Equipment can guide corresponding mobile robot to perform correspondingly command content by the different instructions that performs, thus the completeest Become described pending task.
Further, in a preferred embodiment, the described network equipment can send with described to corresponding mobile machine Crinis Carbonisatus What one or more pending tasks were corresponding performs line information or the cartographic information comprising described target area;In contrast Answering, described mobile robot can be based on execution line information corresponding to the one or more pending task or comprise The cartographic information of described target area moves to corresponding tasks carrying position to perform corresponding pending task.Here, can To need based on different application, mobile robot is set flexibly and performs the concrete mode of described pending task, for example, it is possible to The execution line information provided based on the network equipment performs, or based on the described cartographic information got by described mobile machine People arranges concrete execution circuit voluntarily.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application Feature, purpose and advantage will become more apparent upon:
Fig. 1 illustrates a kind of system signal for carrying out task scheduling in target area according to one aspect of the application Figure;
Fig. 2 illustrates a kind of shifting for carrying out task scheduling in target area according to one preferred embodiment of the application The schematic diagram of mobile robot;
Fig. 3 illustrates according to the application one in terms of another in network equipment end and mobile robotic end in target Method for scheduling task flow chart is carried out in region;
Fig. 4 illustrates that the one according to one preferred embodiment of the application is moving robotic end for entering in target area The method flow diagram of row task scheduling;
It is a kind of for carrying out task scheduling in target area that Fig. 5 illustrates according to another preferred embodiment of the application Exemplary plot;
During Fig. 6 illustrates that the one according to another preferred embodiment of the application carries out task scheduling in target area Or the hum pattern of the one or more sequence informations got.
In accompanying drawing, same or analogous reference represents same or analogous parts.
Detailed description of the invention
Below in conjunction with the accompanying drawings the application is described in further detail.
In one typical configuration of the application, terminal, the equipment of service network and trusted party all include one or more Processor (CPU), input/output interface, network interface and internal memory.
Internal memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read only memory (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium Example.
Computer-readable medium includes that removable media permanent and non-permanent, removable and non-can be by any method Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves State random access memory (DRAM), other kinds of random access memory (RAM), read only memory (ROM), electric erasable Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read only memory (CD-ROM), Digital versatile disc (DVD) or other optical storage, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or Any other non-transmission medium, can be used for the information that storage can be accessed by a computing device.According to defining herein, computer Computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as data signal and the carrier wave of modulation.
It is a kind of for carrying out task scheduling in target area that Fig. 5 shows according to one preferred embodiment of the application Exemplary plot, intuitively describes a suitable examples of this programme.Here, described diagram 51 includes that one or more network sets Standby, the one or more pending task got is distributed to illustrate the corresponding mobile machine of 52 correspondences by the described network equipment People, by described mobile robot in the target area shown in diagram 53, the one or more completing to distribute to it is waited to hold Row task, wherein, certain the concrete subregion in the corresponding described target area, tasks carrying position of each pending task, Such as, the subregion of the target area of described diagram 54 correspondence.It is corresponding that described mobile robot will be moved to each pending task Subregion to perform corresponding pending task.Here, the application goes for task scheduling fields different in actual application Scape, such as, in storage scheduling of resource scene, described pending task i.e. can include carrying that corresponding goods is carried out or Being the tasks such as assembling, output, described target area is storage space, and each subregion can be the partition holding of goods, storage Subregion can also include correspondence shelf in order to deposit the goods as task object, described mobile robot has carrying etc. Correlation function;And for example, in hospital's sufferer management scene, described pending task can be to patrol each sufferer of being in hospital Inspection or the task such as drug delivery, described target area can think hospital, and each subregion can be each ward or section office.? During mobile robot performs described pending task, in corresponding timing node or event node, described mobile machine People can send execution status of task information to map network equipment;The corresponding network equipment can also be to mobile machine Crinis Carbonisatus Send and perform instruction accordingly, by the information interaction of described mobile robot Yu the network equipment, be effectively improved overall task The efficiency of scheduling, saves the input of the resource such as manpower, time in traditional scheduler.
Fig. 1 illustrates a kind of system signal for carrying out task scheduling in target area according to one aspect of the application Figure.Wherein, described system includes the network equipment 1 and mobile robot 2.
Specifically, the described network equipment 1 includes first device 101 and the second device 102;Described mobile robot 2 includes 8th device 201 and the 9th device 202.Wherein, the first device 101 of the described network equipment 1 obtains in target area Or multiple pending task, wherein, tasks carrying position corresponding to each pending task is contained in described target area;Connect , the one or more pending task is provided to corresponding mobile robot by the second device 102 of the described network equipment 1 2;Further, the 8th device 201 of corresponding described mobile robot 2 receives the correspondence that map network equipment 1 provides One or more pending task in target area, wherein, tasks carrying position corresponding to each pending task is contained in Described target area;Then, the 9th device 202 of described mobile robot 2 moves to corresponding tasks carrying position to perform Corresponding pending task.
Here, the described network equipment 1 includes but not limited to computer, network host, single network server, multiple network The cloud that server set or multiple server are constituted;Here, cloud is by a large amount of computers based on cloud computing (Cloud Computing) Or the webserver is constituted, wherein, cloud computing is the one of Distributed Calculation, is made up of a group loosely-coupled computer collection One virtual supercomputer.Described mobile robot 2 includes various machines that have locomotive function, that can automatically perform work Device equipment, such as, various artificial intelligence's equipment with locomotive function.
Specifically, the first device 101 of the described network equipment 1 obtains one or more pending in target area Business, wherein, tasks carrying position corresponding to each pending task is contained in described target area.Here, preferably, the application Described in pending task can be arbitrarily need task based access control executor, such as described mobile robot 2, moved tune The task of degree.Described target area can include the region that described performer performs.Such as, in storage scheduling of resource scene In, described target area is storage space, and task object is the resource to be scheduled that user's order is corresponding, such as various goods, Described pending task, i.e. can include the tasks such as the carrying or assembling, the output that carry out corresponding goods.And for example, in hospital In sufferer management scene, described target area is hospital ward region etc., and described pending task can be to be in hospital each Sufferer carries out patrolling and examining or the task such as drug delivery.Here, those skilled in the art are it should be appreciated that above-mentioned all kinds of pending The applicable scene of task, i.e. its correspondence is only for example, other other pending tasks that are existing or that be likely to occur from now on, i.e. its Corresponding applicable scene is such as applicable to the application, within also should being included in the application protection domain, and at this with way of reference It is incorporated herein.Here, tasks carrying position corresponding to the one or more pending task is both contained in described target area In, now, if tasks carrying position distribution corresponding to the one or more pending task is more disperseed, or to each other Farther out, then the regional extent that corresponding mobile robot 2 performs task is the biggest for relative distance;If the one or more is treated Tasks carrying position distribution corresponding to execution task is more tight, or the moving machine that relative distance is relatively near, then corresponding to each other The regional extent that device people 2 performs task is the least.Here, the distribution of the one or more pending task and described moving machine Specifically carrying into execution a plan of device people 2 is closely bound up with execution efficiency.
Then, the one or more pending task is provided to correspondence by the second device 102 of the described network equipment 1 Mobile robot 2.Here, preferably, can be more tight by described tasks carrying position distribution, or relative distance is relatively to each other Near one or more pending task-set distributes to same mobile robot 2, here, preferably, described second device The one or more pending task is provided to available mobile robot 2 by 102.Participate in there being multiple mobile robot 2 Under the scene of described task scheduling, described available mobile robot 2 is preferably currently at the mobile robot of idle condition 2.Further, if the mobile robot 2 being in idle condition has multiple, it is also possible to the mobile robot 2 that preferably electricity is relatively low, So that each charge level moving robot 2 participating in task scheduling keeps different, prevent multiple stage and move The situation that the electricity of robot 2 must charge less than electricity early warning level, cannot work simultaneously.Moreover it is preferred that provide extremely The one or more pending task of described mobile robot 2 can comprise corresponding execution sequence information.
Then, further, in order to coordinate the task scheduling of the described network equipment 1, the 8th device of described mobile robot 2 201 receive the one or more pending task in the corresponding target area that map network equipment 1 provides;Then, described movement 9th device 202 of robot 2 moves to corresponding tasks carrying position to perform corresponding pending task.Here, it is described Mobile robot 2 such as can include described based on the cartographic information matched with described task scheduling environment stored The cartographic information of target area, determines that it moves to the tasks carrying position that corresponding pending task is corresponding from current location voluntarily Execution circuit.Now, if the one or more pending task that the described network equipment 1 provides has corresponding execution sequence Information, preferably with the order determined, moves to each tasks carrying position to perform corresponding described pending task successively;If It is that the described network equipment 1 does not provide described execution sequence information, it is also possible to determine that by described mobile robot 2 execution is suitable voluntarily Sequence, and perform with order.Additionally, described mobile robot 2 can also to be directly based upon the one or more of acquisition pending The execution line information that task is corresponding, moves to each corresponding tasks carrying position successively to perform the described pending of correspondence Task.
In this application, the described network equipment 1 obtains the one or more pending task in target area, and then by institute Stating one or more pending task to provide to corresponding mobile robot 2, wherein, described each pending task needs to meet The tasks carrying position of its correspondence is contained in described target area.Here, by the integrated scheduling of the described network equipment 1, can With neatly by pending for the one or more in certain target area task be assigned to correspondence mobile robot 2, Thus better adapt to large batch of, complicated task scheduling needs.Further, corresponding, mobile robot 2 will based on from The described pending task that the network equipment 1 gets, the mobile tasks carrying position to correspondence is to perform corresponding pending Business.Here, preferably, if the task that the one or more pending task of being received of each mobile robot 2 is corresponding Perform position Relatively centralized, then so that the displacement of mobile robot 2 entirety is shorter or moving area is concentrated, thus Improve the overall execution efficiency of described pending task.Here, the application is by between the network equipment 1 and mobile robot 2 Scheduling coordinate, can be based on general existing task scheduling environment, holding such as common storage environment or other multitasks Row environment, realizes task-scheduling operation such as hospital ward environment etc., is not required to existing environment is carried out adaptability reform, thus Can reduce the actual resources costs come into operation, portability is higher, is suitable for scene extensive.
Preferably, the described network equipment 1 also includes the 3rd device (not shown), and described 3rd device is by following arbitrary Item provides the most corresponding mobile robot 2: to be the execution line information corresponding with the one or more pending task, This, it is preferable that described execution line information includes or many that described mobile robot 2 is corresponding in the described target area of execution During individual pending task, from starting execution to the concrete course performing each pending task described successively;Two is to comprise The cartographic information of described target area so that described mobile robot 2 can described cartographic information automatic moving perform described Pending task;Three is the travel rule of described mobile robot 2, and such as, the right lateral that mobile robot 2 moves is regular, ten When the rotary island travel rule of word crossing, two or more mobile robot 2 meet dodge passing rules, gait of march rule Deng;Four is the Fault handling rule of described mobile robot 2, such as, runs into the datatron voluntarily of obstacle during task scheduling System, obstacle report mechanism etc.;Five is the law of electric charges of described mobile robot 2, such as, charging operations trigger condition etc..Here, Those skilled in the art it should be appreciated that above-mentioned all kinds of offer to the information of corresponding mobile robot 2 is only for example, other Other information that are existing or that be likely to occur from now on are such as applicable to the application, within also should being included in the application protection domain, And be incorporated herein with way of reference at this.
In this application, the described network equipment 1 can send to corresponding mobile robot 2 and wait to hold with the one or more What row task was corresponding performs line information or the cartographic information comprising described target area;Corresponding, described moving machine Device people 2 can be based on corresponding the performing line information or comprise described target area of the one or more pending task Cartographic information moves to corresponding tasks carrying position to perform corresponding pending task.Thus, it is possible to should based on different With needs, mobile robot 2 is set flexibly and performs the concrete mode of described pending task, for example, it is possible to based on the network equipment 1 The execution line information provided performs, or arranges voluntarily by described mobile robot 2 based on the described cartographic information got Concrete execution circuit.
Preferably, the described network equipment 1 also includes that the 4th device (not shown), described 4th device receive described moving machine The execution status of task information that device people 2 submits to.
Specifically, during described mobile robot 2 performs described pending task, can be the most true by himself Determine each process of tasks carrying, be not required to the real-time monitoring of the described network equipment 1;Or, described mobile robot 2 also may be used The network equipment 1 of correspondence is submitted to, in order to the described network equipment 1 is overall to be adjusted with the execution status of task information that it is current Degree.Here, the execution status of task information that described mobile robot 2 is current that obtains in real time can be arranged;Or, it is also possible in advance The execution status of task information of specific event node or timing node is set.Preferably, described execution status of task information bag Include but be not limited to described mobile robot 2 and arrive the status information of tasks carrying position, tasks carrying startup information, tasks carrying Complete information etc., additionally, described execution status of task can also include when described mobile robot 2 runs into obstacle, to corresponding net The complaint message that network equipment sends, or can also include sending to the network equipment when described mobile robot 2 electricity is relatively low Electricity early warning information.Here, the described network equipment 1 by monitoring in real time, each current state moving robot 2 can be Adjust each distribution moving the pending task between robot 2 on the whole, maintain the stablizing of integrated scheduling, equalize, avoid Too much wait and the impact on overall task dispatching efficiency of queuing up.Here, run into when task is performed for mobile robot 2 Fault or the low situation of electricity, in addition to can being determined processing scheme voluntarily by described mobile robot 2, it is also possible to by institute State the network equipment 1 to provide and perform instruction accordingly.
In a preferred embodiment, the described network equipment 1 also includes the 5th device (not shown), described 5th device to Described mobile robot 2 sends and performs instruction.
Specifically, described mobile robot 2 can perform to refer to accordingly based on the execution instruction that the described network equipment 1 sends Make content, such as, move to tasks carrying position corresponding to described pending task, mobile be charged to charged area.? This, it is preferable that described execution instruction can be to be sent at any Preset Time node or event node by the described network equipment 1 To described mobile robot 2.Such as, the described network equipment 1 can receive the tasks carrying that described mobile robot 2 sends After status information, send corresponding execution based on concrete execution status of task information and instruct to described mobile robot 2.Again As, the described network equipment 1 can also be directly based upon the needs of overall task scheduling, sends accordingly to corresponding mobile robot 2 Perform instruction.
Here, preferably, described execution instruction includes following at least any one: first task performs instruction, the second task Perform instruction, Fault handling instruction and charging instruction.
Specifically, described first task performs instruction in order to instruct described mobile robot 2 by current pending task institute Tasks carrying position move the tasks carrying position to predetermined pending task place.Here, such as, if described net The tasks carrying of the current pending task that network equipment 1 receives described mobile robot 2 correspondence completes information, then can send First task performs instruction, and then, described mobile robot 2 will perform instruction based on described first task, mobile to predetermined The tasks carrying position at pending task place, here, described predetermined pending task, can be described mobile robot 2 In the one or more the pending task obtained, pending after described current pending task of execution sequence Task;Can also be that the current task shown in described execution line information that described mobile robot 2 obtains performs position Next task performs the pending task corresponding to position.
Here, described second task-performance instructions is in order to the modification information corresponding based on described pending task, instruct institute State mobile robot 2 and moved the tasks carrying to next pending task place by the tasks carrying position at current task place Position.Preferably, when the described network equipment 1 monitor simultaneously multiple mobile robot 2 carry out task scheduling time, if task scheduling During occur some target area synchronization have multiple mobile robot 2 queue up or wait task scheduling, then be Recover stable, the equilibrium of overall task scheduling, can the predetermined scheduler task of robot 2 mobile to part be adjusted. Moved robot 2 by the described network equipment 1 to corresponding certain and send the second task-performance instructions so that corresponding described movement Robot 2 is according to described modification information, the mobile tasks carrying position to next pending task place.Here, such as, institute Stating the second task-performance instructions can be to receive the most pending of described mobile robot 2 correspondence at the described network equipment 1 The tasks carrying of task sends after completing information;And for example, described second task-performance instructions can also is that and sets at described network Send after standby 1 status information arriving tasks carrying position receiving described mobile robot 2 correspondence, e.g., based on currently Arrive described tasks carrying position and in the mobile robot 2 waited in line too much, instruct presently described mobile robot 2 Change is mobile to next task execution position.Here, it is further preferred that described modification information include but not limited to down to Few any one: one is the modification information performing circuit that the one or more pending task is corresponding, such as, described moving machine Performing from the tasks carrying position of current task to the concrete of the tasks carrying position of next pending task of device people 2 correspondence Route is different from the described execution line information obtained before.Two is that execution corresponding to the one or more pending task is suitable The modification information of sequence, such as, the execution sequence of described mobile robot 2 correspondence pending task after described current task Change, then move the described tasks carrying position after robot 2 will be moved to the change that described second task-performance instructions is specified, Now, described mobile robot 2 can determine the execution circuit after concrete change voluntarily, or, obtain from the described network equipment 1 Take the execution line information that change is corresponding.Three is the task modification information of the one or more pending task, such as, in institute State and reduce several predetermined pending tasks in mobile robot 2 the one or more pending task original, or Increase several new pending tasks, so that pending of the next one that described mobile robot 2 current task is corresponding Business is no longer predetermined pending task.
Additionally, the instruction of described Fault handling or described charging instruction can receive described movement at the described network equipment 1 Send after the execution status of task information of the current pending task of robot 2 correspondence.Here, those skilled in the art should It is understood that above-mentioned all kinds of execution instruction is only for example, other other execution instructions that are existing or that be likely to occur from now on such as can It is applicable to the application, within also should being included in the application protection domain, and is incorporated herein with way of reference at this.
In the present embodiment, the described network equipment 1 can send to described mobile robot 2 and perform instruction.Here, network sets Standby 1 can guide corresponding mobile robot 2 to perform correspondingly command content by the different instructions that performs, thus the completeest Become described pending task.
In a preferred embodiment, the described network equipment 1 also includes the 6th device (not shown), described 6th device base Determining a collection of or many batch of order in acquired one or more sequence informations, wherein, every batch of order comprises described at least one Sequence information, and each sequence information comprises one or more order object, in each order object correspondence target area Individual tasks carrying position;Then, described first device 101 based on described tasks carrying position, determine that the every batch of order is corresponding one Individual or multiple pending tasks, wherein, each pending task is used for processing in this batch of the comprised sequence information of order with described The order object that tasks carrying position is corresponding.
And specifically, it is preferable to ground, in storage scheduling of resource scene, task object is the money to be scheduled that user's order is corresponding Source, such as various goods, described pending task, i.e. can include the carrying that corresponding goods carried out based on order for goods or The tasks such as assembling.Described target area, it may be preferred to the one or more pending task for determining after described merging is corresponding Tasks carrying region, each partition holding in actual storage environment.
Here, described 6th device determines a collection of or many batch of order based on acquired one or more sequence informations, its In, every batch of order comprises at least one described sequence information, and each sequence information comprises one or more order object, each A tasks carrying position in order object correspondence target area.Described sequence information can correspond to the resource of demand user Dispatching requirement, such as, the order for goods that described demand user is submitted to by electricity business's platform or other network trading platforms.Often Individual sequence information can comprise one or more order object, and described order object can a corresponding concrete class goods.Meanwhile, In actual storage environment, it is preferable that can carry out partitioned storage according to the classification of goods, identical or similar kind resource is deposited Storage area territory is consistent or memory area is close.Here, the corresponding tasks carrying position of described each order object, this task Perform position and correspond to the described order object concrete partition holding in storage environment, further, it is also possible to concrete refinement is right Should be corresponding mobile robot 2 in this partition holding, perform the position at task place.Here, to acquired one or more Sequence information merges and operates to determine a collection of or many batch of order, here, preferably, and can appointing corresponding order object Business performs several sequence informations close together between position and merges into a collection of order.Such as, as shown in Figure 6, it is assumed that order Order object A, B of information 1 correspondence, order object A, C, D of sequence information 2 correspondence, the order object E of sequence information 3 correspondence, F, wherein, tasks carrying position corresponding to order object A, B at subregion 1, tasks carrying position corresponding to order object C, D point District 2, tasks carrying position corresponding to order object E, F at subregion 3, and subregion 1 and subregion 2 position adjacent, and subregion 3 and subregion 1,2 is distant, then at this point it is possible to preferably, by 2-in-1 also to sequence information 1 and sequence information, because its each task respective Perform between position is close together, and correspondingly, sequence information 3 is not suitable for 2-in-1 also with sequence information 1 and sequence information, because of For the tasks carrying efficiency of mobile robot 2 cannot be improved on the whole, in actual scene, each in each sequence information described The particular number of class order object can have one or more.Based on this, it is further preferred that can be by between sequence information Distance calculate, determine one or more sequence informations that every batch of order is corresponding, by described order the most close together Information merges into a collection of order.Here, preferably, the quantity of the sequence information that every batch of order comprises, different batches can be preset Order can the quantity of corresponding different sequence information, and then, by the quantity of the order predetermined according to respective batch, by institute State distance algorithm, determine several sequence informations belonging to respective batch order.Here, described distance algorithm citing can To be: first, determining the distance between sequence information two-by-two, in described sequence information, each order object is at described tasks carrying Position, as in described partition holding, having a concrete storing goods shelf determined, based on greedy algorithm, determine unduplicated, complete Whole go through in two orders the distance of movement required for each concrete storing goods shelf in order object place, with this distance for described two Distance between sequence information;Then, compare based on the distance between sequence information the most two-by-two, optimum one group is incorporated into Certain merges order;Then, based on similar above-mentioned distance algorithm, determine and any order information in above-mentioned one group of sequence information Other sequence informations close together, wherein it is possible to combine the amount threshold of the sequence information of corresponding batch order, determine genus Sequence information quantity in this batch order.
Here, those skilled in the art are it should be appreciated that the above-mentioned algorithm determining a collection of or many batch of order is only for example, Other other algorithms that are existing or that be likely to occur from now on are such as applicable to the application, also should be included in the application protection domain with In, and be incorporated herein with way of reference at this.
Then, described first device 101 based on described tasks carrying position, determines corresponding one or more of the every batch of order Pending task, wherein, each pending task is used for processing in this batch of the comprised sequence information of order and described tasks carrying The order object that position is corresponding.Here, for being merged into several sequence informations in a batch, can order based on each The order object that single information specifically comprises determines concrete pending task object, for example, it is possible to by identical order object pair The scheduler task answered is divided into same described pending task;And for example, it is also possible to corresponding tasks carrying position is belonged to same The different classes of order object of one partition holding is divided into same described pending task.Then, described mobile machine People 2 can obtain corresponding goods successively based on each pending task, follow-up, it is preferable that then will be corresponding with each batch order Sequence information be the output that operating unit carries out goods, such as packaging operation etc..Based on this, the application can take into account simultaneously move With tasks carrying position for unit tasks carrying in dynamic loading process, with the sequence information with service interfacing in packaging operation Export for unit, improve the dispatching efficiency of entirety.
In the preferred embodiment, the described network equipment 1 each sequence information can be merged generation a collection of or many Criticize order, thus every batch of order is provided to corresponding mobile robot 2.In the present embodiment, can be merged by corresponding One or more sequence informations close together are merged into one and are merged order, based on this corresponding ordering of merging order by algorithm The order object of single information determines the one or more pending task and provides to corresponding mobile robot 2.This enforcement Example can be taken into account when performing task in units of tasks carrying position in mobile loading process simultaneously, described mobile robot 2 Overall displacement is shorter or moving area is concentrated;And with the sequence information with service interfacing as unit in packaging operation Output, reduces the operation that order object merges again, improves the dispatching efficiency of entirety.
In another preferred embodiment, the described network equipment 1 also includes the 7th device (not shown), described 7th device Based on acquired one or more sequence informations, determine pending of one or more candidates that each sequence information is corresponding Business, wherein, each sequence information comprises one or more order object, and in each order object correspondence target area appoints Business performs position, and the pending task of each candidate is for processing in this sequence information one of corresponding same tasks carrying position Or multiple order object;Then, described first device 101 based on described tasks carrying position to pending of multiple described candidates Business merges, and determines the one or more pending task that the one or more sequence information is corresponding, and wherein, each waiting is held Row task is for processing order object corresponding with described tasks carrying position in the one or more sequence information.
And specifically, it is preferable to ground, in storage scheduling of resource scene, task object is the money to be scheduled that user's order is corresponding Source, such as various goods, described pending task, i.e. can include the carrying that corresponding goods carried out based on order for goods or The tasks such as assembling.Described target area, it may be preferred to the one or more pending task for determining after described merging is corresponding Tasks carrying region, each partition holding in actual storage environment.Here, described 7th device is based on the order obtained Information, generates the pending task of one or more candidate.Described sequence information can correspond to the scheduling of resource of demand user to be needed Ask, such as, the order for goods that described demand user is submitted to by electricity business's platform or other network trading platforms.Each order Information can comprise one or more order object, and described order object can a corresponding concrete class goods.Meanwhile, in reality In storage environment, it is preferable that partitioned storage can be carried out according to the classification of goods, the identical or resource memory area of similar kind Unanimously or memory area is close.Here, the corresponding tasks carrying position of described each order object, this tasks carrying position Put the concrete partition holding corresponding to described order object in storage environment, further, it is also possible to it is right that concrete refinement corresponds to Robot 2 should be moved in this partition holding, perform the position at task place.Here, preferably, described 7th device is based on ordering The kind of the order object that single information is corresponding, extracts the one or more candidates of generation pending from each sequence information obtained Task, such as, the class order object in the corresponding sequence information of the pending task of each candidate.
Then, multiple pending tasks of described candidate are carried out by described first device 101 based on described tasks carrying position Merge, determine the one or more pending task that the one or more sequence information is corresponding, wherein, each pending task For processing order object corresponding with described tasks carrying position in the one or more sequence information.Here, it is permissible The pending task of candidate corresponding for identical order object is merged;Corresponding tasks carrying position can also be belonged to same The pending task of candidate that the different classes of order object of one partition holding is corresponding merges.Here, preferably, to institute State the pending task of one or more candidate and merge operation, described tasks carrying position distribution will be made more tight, or It is that the pending task of one or more described candidate that relative distance is nearer to each other merges, thus improves the movement of correspondence Robot 2 performs the whole efficiency of described pending task.Several the pending tasks of described candidate being determined are described The network equipment 1 will distribute to the described pending task of the mobile robot 2 of a described correspondence.Here, preferably, Ke Yishe Put the amount threshold of the pending task of described mobile robot 2 correspondence, the amount threshold of described pending task and described shifting The actual loading ability of mobile robot 2 matches, such as, if the described amount threshold of described mobile robot 2 correspondence is N, then The pending task that described mobile robot 2 carries simultaneously not can exceed that N number of.Further, it is preferable that described mobile robot 2 Corresponding goods can be obtained successively based on each pending task.Follow-up, it is preferable that also will be with each pending task for operation Unit carries out the output of goods, such as packaging operation etc..
Here, it is further preferred that the one or more pending task meets following at least either condition: one is to appoint Air line distance between the described tasks carrying position that two the described pending tasks of anticipating are corresponding is less than the first predetermined threshold value;Two are Short line between the described tasks carrying position that pending task described in any two is corresponding is less than the second predetermined threshold value;Three It is that the distance summation of corresponding described execution line information is less than the 3rd predetermined threshold value.Here, by being combined institute together State the restriction of tasks carrying position corresponding to one or more pending task, can efficiently control and anticipated described movement Robot 2 is time-consuming the task of execution.Here, described first predetermined threshold value, described second predetermined threshold value, the described 3rd preset threshold The concrete numerical value of value can be arranged flexibly based on being actually needed, such as, when described all kinds of threshold informations are the least, and the most each movement Robot 2 processes the time-consuming the shortest of the described pending mission bit stream after a combination also, otherwise, the longest.Here, described net Network equipment 1 can be based on overall task quantity, the quantity of corresponding mobile robot 2 and the actual negative of each mobile robot 2 The various dimensions combined factors such as loading capability consider, carry out the adjustment of above-mentioned all kinds of threshold information, to promote overall task scheduling effect Rate.
Here, those skilled in the art are it should be appreciated that each condition above-mentioned is only for example, other are existing or from now on Other conditions being likely to occur such as are applicable to the application, within also should being included in the application protection domain, and at this to quote Mode is incorporated herein.
In the present embodiment, it may be preferred to by the analysis to sequence information in storage application scenarios, determining can be by The pending task of candidate that mobile robot 2 processes, and closed by the described network equipment 1 task pending to described candidate And, to determine the one or more pending task corresponding to described target area, and then robot 2 can be moved accordingly hold Described pending task after the above-mentioned merging of row.Preferably, each pending task that described target area is corresponding can also expire The threshold condition that foot is certain so that the one or more pending task that corresponding mobile robot 2 combines in process Time, its entirety displacement is shorter or moving area is concentrated, thus improve the overall of described pending task and perform effect Rate.
Moreover it is preferred that in above-mentioned two preferred embodiment, the acquisition of described sequence information can be touched based on certain Clockwork spring part, such as, the quantity of the described sequence information to be combined such as current or the pending task of described candidate is less than predetermined number Threshold value;And for example, current time arrives the predetermined acquisition time.Further, it is preferable that for the described sequence information obtained or institute State the order object that the pending task of candidate is corresponding, if with corresponding resource stock's information match, then can be to corresponding institute State sequence information or the pending task of candidate merges operation, otherwise, preferably generate the resource stock of respective orders object not The information of foot, and the monitored object provided to task scheduling replenishes in order to remind.
In this application, an optional embodiment is, the 8th device 201 of described mobile robot 2 receives corresponding net One or more pending task in the corresponding target area that network equipment 1 provides and the execution line information of correspondence, wherein, often Tasks carrying position corresponding to individual pending task is contained in described target area;Wherein, described 9th device 202 is based on described Performing line information, the mobile tasks carrying position to correspondence is to perform corresponding pending task.Here, preferably, described Mobile robot 2 gets described execution line information from the corresponding network equipment 1, such as, gets execution described pending The global path planning information of task, and then, move to each institute successively from original position based on this global path planning information State tasks carrying position corresponding to pending task to perform corresponding one or more pending task.
In this application, another optional embodiment is, described 9th device 202 of described mobile robot 2 based on Comprising the cartographic information of described target area, the mobile tasks carrying position to correspondence is to perform corresponding pending task.? This, the cartographic information that described mobile robot 2 is correlated with based on its described task scheduling got, such as, comprise described target The cartographic information in region, in conjunction with the navigation feature of self, carries out corresponding local paths planning, thus mobile to described successively Tasks carrying position corresponding to one or more pending tasks is to perform corresponding pending task.Institute is comprised described in here, The cartographic information stating target area can be the most i.e. to store or be carried in described mobile robot 2, or can also be by The described network equipment 1 is combined with the one or more pending task mobile robot 2 provided along to described.
Fig. 2 illustrates a kind of shifting for carrying out task scheduling in target area according to one preferred embodiment of the application The schematic diagram of mobile robot 2.
Wherein, described mobile robot 2 includes the 8th device 201 ' and the 9th device 202 ', described 9th device 202 ' bag Include first module 2021 ' and second unit 2022 '.Here, the 8th device 201 ' receives the corresponding mesh that map network equipment 1 provides One or more pending task in mark region, wherein, tasks carrying position corresponding to each pending task is contained in institute State target area;Described first module 2021 ' is mobile corresponding to the first pending task in one or more pending tasks Tasks carrying position;Described second unit 2022 ' obtains the execution status of task information that described mobile robot 2 is current.Here, Described 8th device 201 ' is identical or essentially identical with the 8th device 201 content shown in Fig. 1, here, repeat no more, and to draw Mode be incorporated herein.
Specifically, the described execution line information that described mobile robot 2 can provide according to the described network equipment 1, moves Move to tasks carrying position corresponding to described first pending task.Or, it is also possible to it is that described mobile robot 2 is based on institute Stating the cartographic information comprising described target area, programme path moves to the task that described first pending task is corresponding and holds voluntarily Line position.Here, described first pending task can be that in the one or more pending task, any one is pending Task.Described second unit 2022 ' obtains the execution status of task information that described mobile robot 2 is current.Here, described task Execution state information is that described mobile robot 2 performs in task process, the status information in each corresponding moment.Here, it is permissible The execution status of task information that described mobile robot 2 is current that obtains in real time is set;Or, it is also possible to it is set in advance in specific Event node or timing node obtain the execution status of task information of described mobile robot 2, here, preferably, described task Execution state information includes following at least any one: arrive the status information of tasks carrying position;Tasks carrying starts information;Appoint Business execution completes information.Here, the acquisition of described execution status of task information can be that described mobile robot 2 is current based on it Positional information automatic decision, such as, when described mobile robot 2 moves the tasks carrying position to described first pending task After, automatically generate the status information of described arrival tasks carrying position;Further, it is also possible to operations based on other objects, submit to Described execution status of task information is to described mobile robot 2, such as, in storage scene, by operator in described movement Touch control operation on the intelligent display screen of robot 2 correspondence, such as, clicks on and starts to join goods button or join goods to complete button Deng, so that described mobile robot 2 obtains its current tasks carrying startup information or tasks carrying completes information etc..
Additionally, described execution status of task can also include, when described mobile robot 2 runs into obstacle, setting to map network The complaint message that preparation is sent, it is also possible to include when described mobile robot 2 electricity is relatively low pre-to the electricity of network equipment transmission Alarming information.Here, those skilled in the art are it should be appreciated that each execution status of task information above-mentioned is only for example, other Other execution status of task information that are existing or that be likely to occur from now on are such as applicable to the application, also should be included in the application and protect Within protecting scope, and it is incorporated herein with way of reference at this.
Further, it is preferable that if the current execution status of task information of described mobile robot 2 is that described tasks carrying opens Dynamic information, described 9th device 202 ' also includes that the 3rd unit (not shown), the 4th unit (not shown) and Unit the 5th (do not show Go out);Wherein, Unit the 3rd, based on the object identification information obtained, determines the task object that described first pending task is corresponding; Unit the 4th presents the glove information corresponding with described task object;Unit the 5th obtains corresponding the putting of described task object Thing completes information.
Here, as a example by storage scheduling of resource scene, task object is resource to be scheduled, such as various goods, described in treat Execution task, i.e. can include the tasks such as the carrying or the assembling that carry out corresponding goods based on order for goods.Preferably, institute State mobile robot 2 to move to described tasks carrying position, or wait or be immediately performed described first pending Business, if described first pending task start tasks carrying, such as, by operator in described mobile robot 2 correspondence Clicking on intelligent display screen and start to join goods button, the most described mobile robot 2 current task execution state information is described Business performs startup information.Now, Unit the 3rd, based on the object identification information obtained, determines that described first pending task is corresponding Task object.Here, preferably, described task object can include one or more order object, and every kind of order object is also Can have one or more.Described object identification information can include the identification information of described task object, such as goods to be handled Bar code, it is preferable that described mobile robot 2 can be by the object coding scanning means that configures, the business of scanning goods Product bar code, the task object corresponding to confirm described first pending task.Then, Unit the 4th presents and described task object Corresponding glove information.Described Unit the 4th can judge described first pending task based on described object identification information The glove region that goods is corresponding, presents the glove information of correspondence, and such as, the glove region bright light of described correspondence, to carry Show and described goods is placed on this glove region.Then, after described task object is placed on this glove region, mobile machine People 2 can automatically generate glove and complete information, or by operator at the intelligent display screen of described mobile robot 2 correspondence Upper click glove completes button.At this preferably, described tasks carrying completes information and can include that described glove completes information.? This, it is preferable that described glove region is to arrange in units of each sequence information, and the most each glove region correspondence is deposited one and ordered Whole order object that single information is corresponding.
Preferably, if the current execution status of task information of described mobile robot 2 is that tasks carrying completes information, described 9th device 202 ' also includes the 6th unit (not shown), and described Unit the 6th is based on described execution line information or described bag Containing the cartographic information of described target area, the mobile task corresponding to the second pending task in one or more pending tasks Perform position.Here, after described mobile robot 2 has performed described first pending task, can be again along from net The described execution line information that network equipment 1 is obtained ahead of time moves to second after described first pending task pending The tasks carrying position that task is corresponding;Comprise the cartographic information of described target area described in being also based on, plan voluntarily from institute State tasks carrying position corresponding to the first pending task to move to corresponding the appointing of predetermined the second pending task after which Business performs the shiftable haulage line between position, and shiftable haulage line based on described planning moves.
In a preferred embodiment, described 9th device 202 ' also includes the 7th unit (not shown), and the described 7th is single Execution status of task information current for described mobile robot 2 is sent to the corresponding network equipment 1 by unit.Specifically, described shifting Current execution status of task information can be sent extremely after getting current execution status of task information by mobile robot 2 The corresponding network equipment 1.So that the task scheduling that the described network equipment 1 can monitor each described mobile robot 2 in real time is entered Journey.Thus, facilitate the described network equipment 1 to send to described mobile robot 2 and perform instruction to dispatch described mobile robot 2.
Here, preferably, if the current execution status of task information of described mobile robot 2 is that tasks carrying completes letter Breath, described tasks carrying is completed information and sends to the corresponding network equipment 1 by described Unit the 7th;Wherein, described 9th device 202 ' also include that the 8th unit (not shown) and the 9th unit (not shown), described Unit the 8th receive map network equipment 1 First task performs instruction;Described Unit the 9th performs instruction based on described first task, by presently described first pending The tasks carrying position of business is moved to corresponding the appointing of the second pending task predetermined in the one or more pending task Business performs position.Here, described predetermined pending task, it can be the one or many of described mobile robot 2 acquisition In individual pending task, the execution sequence pending task after described current pending task;It can also be institute The next task stating the execution of the current task shown in the described execution line information position that mobile robot 2 obtains performs position Corresponding pending task.
Here, preferably, if the current execution status of task information of described mobile robot 2 is that described tasks carrying completes Information, wherein, described tasks carrying is completed information and sends to the corresponding network equipment 1 by described Unit the 7th;Wherein, described Nine devices also include that the tenth unit (not shown) and the 11st unit (not shown), described Unit the tenth receive map network equipment Second task-performance instructions of 1;Described Unit the 11st is based on described second task-performance instructions, mobile to the 3rd pending The tasks carrying position at business place, wherein, described second task-performance instructions is that map network equipment 1 is based on one or many Modification information corresponding to individual pending task determines.
Specifically, when the described network equipment 1 monitor simultaneously multiple mobile robot 2 carry out task scheduling time, if task Scheduling process occurring, some target area has multiple mobile robot 2 queuing up or waiting task scheduling at synchronization, Then in order to recover stable, the equilibrium of overall task scheduling, the predetermined scheduler task that part can move robot 2 is adjusted Whole.Moved robot 2 by the described network equipment 1 to corresponding certain and send the second task-performance instructions so that corresponding is described Mobile robot 2 is according to described modification information, the mobile tasks carrying position to next pending task place.Here, institute State modification information and include but not limited to following at least any one: one is, the execution that the one or more pending task is corresponding The modification information of circuit;Two is the modification information of execution sequence corresponding to the one or more pending task;Three is described The task modification information of one or more pending tasks.
Preferably, if the current execution status of task information of described mobile robot 2 is that tasks carrying completes information, described 9th device 202 ' also includes that the 12nd unit (not shown), described Unit the 12nd move to corresponding task object treatment region Territory is to export task object, and wherein, described first pending task is default labelling task.
Here, as a example by storage scheduling of resource scene, for the task object of described mobile robot 2 carrying, such as carrying Goods, the most also can export accordingly, such as, goods be unloaded, the corresponding operating such as packing.Here, this institute State the network equipment 1 when providing to described mobile robot 2 one or more described pending task, be i.e. arranged on described the After one pending task, described mobile robot 2 will be moved to corresponding task object processing region, here, described labelling is appointed Business can have multiple, or preferably, arranges described labelling task, and the most described first pending task is described mobile robot In the 2 one or more described pending tasks obtained, execution sequence is in a last pending task.Here, preferably, When completing the output of described task object, execution status of task information now can be sent extremely by described mobile robot 2 The corresponding network equipment 1, and wait the described network equipment 1 perform instruction, such as distribute new pending task, or instruct It returns to region of awaiting orders.
Preferably, described mobile robot 2 also includes that the tenth device (not shown), described tenth device receive map network The travel rule of the described mobile robot 2 that equipment 1 provides;Wherein, described 9th device 202 ' moves based on described travel rule Move to corresponding tasks carrying position to perform corresponding pending task.The travel rule of described mobile robot 2 include but It is not limited to right lateral rule, the rotary island travel rule at cross junction, two or more mobile machine that mobile robot 2 moves When people 2 meets dodge passing rules, gait of march arrange rule etc..Described mobile robot 2 can be with base in moving process In described travel rule, adjust oneself move mode or translational speed etc. in real time.
Preferably, described mobile robot 2 also includes the 11st device (not shown), and it is right that described 11st dress is used for receiving Answer the following at least any one information that the network equipment 1 provides: the Fault handling of mobile robot 2 is regular;Mobile robot 2 fills Electricity rule.Wherein, mobile robot 2 also includes following at least any one: the tenth two devices (not shown), for based on described shifting The Fault handling rule of mobile robot 2, processes the disorder event in traveling process;13rd device (not shown), for based on The law of electric charges of described mobile robot 2, moves and is charged to charging zone of awaiting orders.Here, the obstacle of described mobile robot 2 Process rule, run into the treatment mechanism voluntarily of obstacle during task scheduling can be included, obstacle report mechanism etc.;Described movement The law of electric charges of robot 2, can include charging operations trigger condition etc..Here, those skilled in the art it should be appreciated that Above-mentioned all kinds of offer is only for example to the information of corresponding mobile robot 2, other existing or be likely to occur from now on other Information is such as applicable to the application, within also should being included in the application protection domain, and is incorporated herein with way of reference at this.
Preferably, described mobile robot 2 includes following at least any one: intelligent display screen;Object coding scanning dress Put, be used for obtaining object identification information;Article-holding device, including one or goods multiple glove region;One or more sensors;Its His hardware loading interface.
Specifically, described intelligent display screen is provided for the one or many that described mobile robot 2 processes The relevant information of individual pending task, it is also possible to for receiving the touch control operation of the operation task under certain application scenarios, such as, By operator's touch control operation on the intelligent display screen of described mobile robot 2 correspondence, start to join goods button as clicked on Or joining goods completes button etc., so that described mobile robot 2 obtains its current tasks carrying starts information or task Execution completes information etc..
Object coding scanning means, is used for obtaining object identification information, such as, by code reader items scanning bar code to know Not corresponding goods.
Here, described article-holding device can correspond to corresponding shelf, described glove region can correspond in shelf Each lattice, described glove region is in order to place the goods that described mobile robot 2 gets from partition holding, and described glove fills Put or the profile in glove region, size, quantity can adjust accordingly based on actual application scenarios.Here, preferably, institute Stating glove region is to arrange in units of each sequence information, and it is corresponding that the most each glove region correspondence deposits a sequence information All order object.
Here, described mobile robot 2 can arrange various types of sensor, such as laser sensor flexibly, in order to Perception surrounding and oneself state, thus it is effectively realized the operations such as route circuit planning, turn-by-turn navigation or safe avoidance.
Described mobile robot 2 can also reserve multiple interfaces, in order to based on different application scenarios, adds needs Hardware loading equipemtn, fast custom meets the mobile robot 2 of specific demand.
Fig. 3 illustrates according to the application one in terms of another in network equipment end and mobile robotic end in target Method for scheduling task flow chart is carried out in region.
Specifically, described method includes step S301, step S302 and step S304.Wherein, in step S301, described The network equipment 1 obtains the one or more pending task in target area, and wherein, task corresponding to each pending task is held Line position is contained in described target area;Then, in step S303, the one or more is waited to hold by the described network equipment 1 Row task provides to corresponding mobile robot 2;Corresponding, in step s 302, described mobile robot 2 receives map network One or more pending task in the corresponding target area that equipment 1 provides, wherein, the task that each pending task is corresponding Perform position and be contained in described target area;Then, in step s 304, described mobile robot 2 moves to corresponding task Perform position to perform corresponding pending task.
Here, the described network equipment 1 includes but not limited to computer, network host, single network server, multiple network The cloud that server set or multiple server are constituted;Here, cloud is by a large amount of computers based on cloud computing (Cloud Computing) Or the webserver is constituted, wherein, cloud computing is the one of Distributed Calculation, is made up of a group loosely-coupled computer collection One virtual supercomputer.Described mobile robot 2 includes various machines that have locomotive function, that can automatically perform work Device equipment, such as, various artificial intelligence's equipment with locomotive function.
Specifically, in step S301, the described network equipment 1 obtains one or more pending in target area Business, wherein, tasks carrying position corresponding to each pending task is contained in described target area.Here, preferably, the application Described in pending task can be arbitrarily need task based access control executor, such as described mobile robot 2, moved tune The task of degree.Described target area can include the region that described performer performs.Such as, in storage scheduling of resource scene In, described target area is storage space, and task object is the resource to be scheduled that user's order is corresponding, such as various goods, Described pending task, i.e. can include the tasks such as the carrying or assembling, the output that carry out corresponding goods.And for example, in hospital In sufferer management scene, described target area is hospital ward region etc., and described pending task can be to be in hospital each Sufferer carries out patrolling and examining or the task such as drug delivery.Here, those skilled in the art are it should be appreciated that above-mentioned all kinds of pending The applicable scene of task, i.e. its correspondence is only for example, other other pending tasks that are existing or that be likely to occur from now on, i.e. its Corresponding applicable scene is such as applicable to the application, within also should being included in the application protection domain, and at this with way of reference It is incorporated herein.Here, tasks carrying position corresponding to the one or more pending task is both contained in described target area In, now, if tasks carrying position distribution corresponding to the one or more pending task is more disperseed, or to each other Farther out, then the regional extent that corresponding mobile robot 2 performs task is the biggest for relative distance;If the one or more is treated Tasks carrying position distribution corresponding to execution task is more tight, or the moving machine that relative distance is relatively near, then corresponding to each other The regional extent that device people 2 performs task is the least.Here, the distribution of the one or more pending task and described moving machine Specifically carrying into execution a plan of device people 2 is closely bound up with execution efficiency.
Then, in step S303, the one or more pending task is provided to correspondence by the described network equipment 1 Mobile robot 2.Here, preferably, can be more tight by described tasks carrying position distribution, or relative distance is relatively to each other Near one or more pending task-set distributes to same mobile robot 2, here, preferably, in step S303, The one or more pending task is provided to available mobile robot 2 by the described network equipment 1.There iing multiple moving machine Device people 2 participates under the scene of described task scheduling, and described available mobile robot 2 is preferably currently at the shifting of idle condition Mobile robot 2.Further, if the mobile robot 2 being in idle condition has multiple, it is also possible to the movement that preferably electricity is relatively low Robot 2, so that each charge level moving robot 2 participating in task scheduling keeps different, prevents Multiple stage moves the situation that the electricity of robot 2 must charge less than electricity early warning level, cannot work simultaneously.Furthermore it is preferred that Ground, it is provided that the one or more pending task to described mobile robot 2 can comprise corresponding execution sequence information.
Then, further, in order to coordinate the task scheduling of the described network equipment 1, in step s 302, described mobile machine People 2 receives the one or more pending task in the corresponding target area that map network equipment 1 provides;Then, in step In S304, described mobile robot 2 moves to corresponding tasks carrying position to perform corresponding pending task.Here, institute State mobile robot 2 such as to have comprised based on the cartographic information matched with described task scheduling environment stored State the cartographic information of target area, determine that it moves to the tasks carrying position that corresponding pending task is corresponding from current location voluntarily The execution circuit put.Now, if the one or more pending task that the described network equipment 1 provides has corresponding execution suitable Sequence information, preferably with the order determined, moves to each tasks carrying position to perform corresponding described pending task successively; If the described network equipment 1 does not provide described execution sequence information, it is also possible to determined execution voluntarily by described mobile robot 2 Sequentially, and with order perform.Wait to hold additionally, described mobile robot 2 can also be directly based upon the one or more of acquisition The execution line information that row task is corresponding, moves to each corresponding tasks carrying position to perform to wait to hold described in correspondence successively Row task.
In this application, the described network equipment 1 obtains the one or more pending task in target area, and then by institute Stating one or more pending task to provide to corresponding mobile robot 2, wherein, described each pending task needs to meet The tasks carrying position of its correspondence is contained in described target area.Here, by the integrated scheduling of the described network equipment 1, can With neatly by pending for the one or more in certain target area task be assigned to correspondence mobile robot 2, Thus better adapt to large batch of, complicated task scheduling needs.Further, corresponding, mobile robot 2 will based on from The described pending task that the network equipment 1 gets, the mobile tasks carrying position to correspondence is to perform corresponding pending Business.Here, preferably, if the task that the one or more pending task of being received of each mobile robot 2 is corresponding Perform position Relatively centralized, then so that the displacement of mobile robot 2 entirety is shorter or moving area is concentrated, thus Improve the overall execution efficiency of described pending task.Here, the application is by between the network equipment 1 and mobile robot 2 Scheduling coordinate, can be based on general existing task scheduling environment, holding such as common storage environment or other multitasks Row environment, realizes task-scheduling operation such as hospital ward environment etc., is not required to existing environment is carried out adaptability reform, thus Can reduce the actual resources costs come into operation, portability is higher, is suitable for scene extensive.
Preferably, described method also includes step S305 (not shown), in step S305, under the described network equipment 1 is incited somebody to action Arranging at least any one provides the most corresponding mobile robot 2: to be the execution corresponding with the one or more pending task Line information, here, preferably, described execution line information includes that described mobile robot 2 is performing described target area pair During the one or more pending task answered, from starting execution to the particular row route performing each pending task described successively Line;Two is the cartographic information comprising described target area so that described mobile robot 2 can described cartographic information automatic moving And perform described pending task;Three is the travel rule of described mobile robot 2, such as, and the right lateral that mobile robot 2 moves Rule, dodge passing rules, OK when the rotary island travel rule of cross junction, two or more mobile robot 2 meet Enter speed rule etc.;Four is the Fault handling rule of described mobile robot 2, such as, runs into obstacle during task scheduling Treatment mechanism, obstacle report mechanism etc. voluntarily;Five is the law of electric charges of described mobile robot 2, and such as, charging operations triggers bar Part etc..Here, those skilled in the art it should be appreciated that above-mentioned all kinds of offer to corresponding mobile robot 2 information only For citing, other other information that are existing or that be likely to occur from now on are such as applicable to the application, also should be included in the application and protect Within protecting scope, and it is incorporated herein with way of reference at this.
In this application, the described network equipment 1 can send to corresponding mobile robot 2 and wait to hold with the one or more What row task was corresponding performs line information or the cartographic information comprising described target area;Corresponding, described moving machine Device people 2 can be based on corresponding the performing line information or comprise described target area of the one or more pending task Cartographic information moves to corresponding tasks carrying position to perform corresponding pending task.Thus, it is possible to should based on different With needs, mobile robot 2 is set flexibly and performs the concrete mode of described pending task, for example, it is possible to based on the network equipment 1 The execution line information provided performs, or arranges voluntarily by described mobile robot 2 based on the described cartographic information got Concrete execution circuit.
Preferably, described method also includes step S307 (not shown), and in step S307, the described network equipment 1 receives The execution status of task information that described mobile robot 2 is submitted to.
Specifically, during described mobile robot 2 performs described pending task, can be the most true by himself Determine each process of tasks carrying, be not required to the real-time monitoring of the described network equipment 1;Or, described mobile robot 2 also may be used The network equipment 1 of correspondence is submitted to, in order to the described network equipment 1 is overall to be adjusted with the execution status of task information that it is current Degree.Here, the execution status of task information that described mobile robot 2 is current that obtains in real time can be arranged;Or, it is also possible in advance The execution status of task information of specific event node or timing node is set.Preferably, described execution status of task information bag Include but be not limited to described mobile robot 2 and arrive the status information of tasks carrying position, tasks carrying startup information, tasks carrying Complete information etc., additionally, described execution status of task can also include when described mobile robot 2 runs into obstacle, to corresponding net The complaint message that network equipment sends, or can also include sending to the network equipment when described mobile robot 2 electricity is relatively low Electricity early warning information.Here, the described network equipment 1 by monitoring in real time, each current state moving robot 2 can be Adjust each distribution moving the pending task between robot 2 on the whole, maintain the stablizing of integrated scheduling, equalize, avoid Too much wait and the impact on overall task dispatching efficiency of queuing up.Here, run into when task is performed for mobile robot 2 Fault or the low situation of electricity, in addition to can being determined processing scheme voluntarily by described mobile robot 2, it is also possible to by institute State the network equipment 1 to provide and perform instruction accordingly.
In a preferred embodiment, described method also includes step S309 (not shown), in step S309, and described net Network equipment 1 sends to described mobile robot 2 and performs instruction.
Specifically, described mobile robot 2 can perform to refer to accordingly based on the execution instruction that the described network equipment 1 sends Make content, such as, move to tasks carrying position corresponding to described pending task, mobile be charged to charged area.? This, it is preferable that described execution instruction can be to be sent at any Preset Time node or event node by the described network equipment 1 To described mobile robot 2.Such as, the described network equipment 1 can receive the tasks carrying that described mobile robot 2 sends After status information, send corresponding execution based on concrete execution status of task information and instruct to described mobile robot 2.Again As, the described network equipment 1 can also be directly based upon the needs of overall task scheduling, sends accordingly to corresponding mobile robot 2 Perform instruction.
Here, preferably, described execution instruction includes following at least any one: first task performs instruction, the second task Perform instruction, Fault handling instruction and charging instruction.
Specifically, described first task performs instruction in order to instruct described mobile robot 2 by current pending task institute Tasks carrying position move the tasks carrying position to predetermined pending task place.Here, such as, if described net The tasks carrying of the current pending task that network equipment 1 receives described mobile robot 2 correspondence completes information, then can send First task performs instruction, and then, described mobile robot 2 will perform instruction based on described first task, mobile to predetermined The tasks carrying position at pending task place, here, described predetermined pending task, can be described mobile robot 2 In the one or more the pending task obtained, pending after described current pending task of execution sequence Task;Can also be that the current task shown in described execution line information that described mobile robot 2 obtains performs position Next task performs the pending task corresponding to position.
Here, described second task-performance instructions is in order to the modification information corresponding based on described pending task, instruct institute State mobile robot 2 and moved the tasks carrying to next pending task place by the tasks carrying position at current task place Position.Preferably, when the described network equipment 1 monitor simultaneously multiple mobile robot 2 carry out task scheduling time, if task scheduling During occur some target area synchronization have multiple mobile robot 2 queue up or wait task scheduling, then be Recover stable, the equilibrium of overall task scheduling, can the predetermined scheduler task of robot 2 mobile to part be adjusted. Moved robot 2 by the described network equipment 1 to corresponding certain and send the second task-performance instructions so that corresponding described movement Robot 2 is according to described modification information, the mobile tasks carrying position to next pending task place.Here, such as, institute Stating the second task-performance instructions can be to receive the most pending of described mobile robot 2 correspondence at the described network equipment 1 The tasks carrying of task sends after completing information;And for example, described second task-performance instructions can also is that and sets at described network Send after standby 1 status information arriving tasks carrying position receiving described mobile robot 2 correspondence, e.g., based on currently Arrive described tasks carrying position and in the mobile robot 2 waited in line too much, instruct presently described mobile robot 2 Change is mobile to next task execution position.Here, it is further preferred that described modification information include but not limited to down to Few any one: one is the modification information performing circuit that the one or more pending task is corresponding, such as, described moving machine Performing from the tasks carrying position of current task to the concrete of the tasks carrying position of next pending task of device people 2 correspondence Route is different from the described execution line information obtained before.Two is that execution corresponding to the one or more pending task is suitable The modification information of sequence, such as, the execution sequence of described mobile robot 2 correspondence pending task after described current task Change, then move the described tasks carrying position after robot 2 will be moved to the change that described second task-performance instructions is specified, Now, described mobile robot 2 can determine the execution circuit after concrete change voluntarily, or, obtain from the described network equipment 1 Take the execution line information that change is corresponding.Three is the task modification information of the one or more pending task, such as, in institute State and reduce several predetermined pending tasks in mobile robot 2 the one or more pending task original, or Increase several new pending tasks, so that pending of the next one that described mobile robot 2 current task is corresponding Business is no longer predetermined pending task.
Additionally, the instruction of described Fault handling or described charging instruction can receive described movement at the described network equipment 1 Send after the execution status of task information of the current pending task of robot 2 correspondence.Here, those skilled in the art should It is understood that above-mentioned all kinds of execution instruction is only for example, other other execution instructions that are existing or that be likely to occur from now on such as can It is applicable to the application, within also should being included in the application protection domain, and is incorporated herein with way of reference at this.
In the present embodiment, the described network equipment 1 can send to described mobile robot 2 and perform instruction.Here, network sets Standby 1 can guide corresponding mobile robot 2 to perform correspondingly command content by the different instructions that performs, thus the completeest Become described pending task.
In a preferred embodiment, described method also includes step S311 (not shown), in step S311, and described net Network equipment 1 determines a collection of or many batch of order based on acquired one or more sequence informations, and wherein, every batch of order comprises at least One described sequence information, and each sequence information comprises one or more order object, each order object correspondence target area A tasks carrying position in territory;Then, in step S301, the described network equipment 1 is based on described tasks carrying position, really The one or more pending task that fixed every batch of order is corresponding, wherein, each pending task is used for processing this batch of order and is wrapped Containing order object corresponding with described tasks carrying position in sequence information.
And specifically, it is preferable to ground, in storage scheduling of resource scene, task object is the money to be scheduled that user's order is corresponding Source, such as various goods, described pending task, i.e. can include the carrying that corresponding goods carried out based on order for goods or The tasks such as assembling.Described target area, it may be preferred to the one or more pending task for determining after described merging is corresponding Tasks carrying region, each partition holding in actual storage environment.
Here, in step S311, the described network equipment 1 determines a collection of based on acquired one or more sequence informations Or many batches of orders, wherein, every batch of order comprises at least one described sequence information, and each sequence information comprises one or more Order object, a tasks carrying position in each order object correspondence target area.Described sequence information can correspond to The scheduling of resource demand of demand user, such as, described demand user is submitted to by electricity business's platform or other network trading platforms Order for goods.Each sequence information can comprise one or more order object, and described order object can be corresponding concrete One class goods.Meanwhile, in actual storage environment, it is preferable that partitioned storage, identical or phase can be carried out according to the classification of goods Like the resource memory area of kind is consistent or memory area is close.Here, the corresponding task of described each order object is held Line position, this tasks carrying position corresponds to the described order object concrete partition holding in storage environment, further, also may be used Correspond to corresponding mobile robot 2 with concrete refinement in this partition holding, perform the position at task place.Here, to acquired One or more sequence informations merge operation to determine a collection of or many batch of order, here, preferably, can accordingly Several sequence informations close together between the tasks carrying position of order object merge into a collection of order.Such as, such as Fig. 6 institute Showing, it is assumed that order object A, B of sequence information 1 correspondence, order object A, C, D of sequence information 2 correspondence, sequence information 3 is corresponding Order object E, F, wherein, tasks carrying position corresponding to order object A, B is in subregion 1, the task that order object C, D are corresponding Perform position at subregion 2, tasks carrying position corresponding to order object E, F at subregion 3, and subregion 1 and subregion 2 position adjacent, And subregion 3 is distant with subregion 1,2, then at this point it is possible to preferably, by 2-in-1 also to sequence information 1 and sequence information, because its Close together between each tasks carrying position respective, and correspondingly, sequence information 3 be not suitable for sequence information 1 with order Single information is 2-in-1 also because the tasks carrying efficiency of mobile robot 2 cannot be improved on the whole, in actual scene, described each In sequence information, the particular number of each class order object can have one or more.Based on this, it is further preferred that can lead to Cross the distance between sequence information to calculate, determine one or more sequence informations that every batch of order is corresponding, by distance each other Nearer described sequence information merges into a collection of order.Here, preferably, the sequence information that every batch of order comprises can be preset Quantity, the order of different batches can the quantity of corresponding different sequence information, and then, by the order predetermined according to respective batch Quantity, by described distance algorithm, determine several sequence informations belonging to respective batch order.Here, described distance is calculated First one citing of method may is that, determines the distance between sequence information two-by-two, each order object in described sequence information Described tasks carrying position, such as described partition holding in, have a concrete storing goods shelf determined, based on greedy algorithm, Determine unduplicated, completely go through in two orders the distance of movement required for each concrete storing goods shelf in order object place, Distance between with this distance for described two sequence informations;Then, compare based on the distance between sequence information the most two-by-two, will Optimum one group incorporates certain into and merges order;Then, based on similar above-mentioned distance algorithm, determine and above-mentioned one group of order letter Other sequence informations that in breath, any order information distance is nearer, wherein it is possible to combine the sequence information of corresponding batch order Amount threshold, determine the sequence information quantity belonging to this batch order.
Here, those skilled in the art are it should be appreciated that the above-mentioned algorithm determining a collection of or many batch of order is only for example, Other other algorithms merging order that are existing or that be likely to occur from now on are such as applicable to the application, also should be included in the application Within protection domain, and it is incorporated herein with way of reference at this.
Then, in step S301, the described network equipment 1, based on described tasks carrying position, determines every batch of order correspondence One or more pending task, wherein, each pending task be used for processing in this batch of the comprised sequence information of order with The order object that described tasks carrying position is corresponding.Here, for several sequence informations being merged in a collection of order, can Concrete pending task object is determined with the order object specifically comprised based on each sequence information, for example, it is possible to by identical Scheduler task corresponding to order object be divided into same described pending task;And for example, it is also possible to corresponding task is held Line position belongs to the different classes of order object of same partition holding and is divided into same described pending task.Then, Described mobile robot 2 can obtain corresponding goods successively based on each pending task, follow-up, it is preferable that then will be with each The sequence information that batch order is corresponding is the output that operating unit carries out goods, such as packaging operation etc..Based on this, the application is permissible Take into account in mobile loading process with tasks carrying position for unit tasks carrying simultaneously, and in packaging operation with business pair The sequence information connect is unit output, improves the dispatching efficiency of entirety.
In the preferred embodiment, the described network equipment 1 each sequence information can be merged generation a collection of or many Criticize order, thus every batch of order is provided to corresponding mobile robot 2.In the present embodiment, can be merged by corresponding One or more sequence informations close together are merged into one and are merged order, based on this corresponding ordering of merging order by algorithm The order object of single information determines the one or more pending task and provides to corresponding mobile robot 2.This enforcement Example can be taken into account when performing task in units of tasks carrying position in mobile loading process simultaneously, described mobile robot 2 Overall displacement is shorter or moving area is concentrated;And with the sequence information with service interfacing as unit in packaging operation Output, reduces the operation that order object merges again, improves the dispatching efficiency of entirety.
In another preferred embodiment, described method also includes step S313 (not shown), in step S313, described The network equipment 1, based on acquired one or more sequence informations, determines one or more candidates that each sequence information is corresponding Pending task, wherein, each sequence information comprises one or more order object, in each order object correspondence target area A tasks carrying position, the pending task of each candidate is used for processing corresponding same tasks carrying position in this sequence information The one or more order object put;Then, in step S301, the described network equipment 1 is based on described tasks carrying position pair Multiple pending tasks of described candidate merge, and determine that one or more treating corresponding to the one or more sequence information is held Row task, wherein, each pending task is used for processing in the one or more sequence information and described tasks carrying position Corresponding order object.
And specifically, it is preferable to ground, in storage scheduling of resource scene, task object is the money to be scheduled that user's order is corresponding Source, such as various goods, described pending task, i.e. can include the carrying that corresponding goods carried out based on order for goods or The tasks such as assembling.Described target area, it may be preferred to the one or more pending task for determining after described merging is corresponding Tasks carrying region, each partition holding in actual storage environment.Here, in step S313, the described network equipment 1 Based on the sequence information obtained, generate the pending task of one or more candidate.Described sequence information can correspond to demand and use The scheduling of resource demand at family, such as, the goods that described demand user is submitted to by electricity business's platform or other network trading platforms Order.Each sequence information can comprise one or more order object, and described order object can a corresponding concrete class goods Thing.Meanwhile, in actual storage environment, it is preferable that partitioned storage, identical or similar kind can be carried out according to the classification of goods Resource memory area consistent or memory area is close.Here, the corresponding tasks carrying position of described each order object Putting, this tasks carrying position corresponds to the described order object concrete partition holding in storage environment, further, it is also possible to tool Body refinement corresponds to corresponding mobile robot 2 and performs the position at task place in this partition holding.Here, preferably, in step In rapid S313, the described network equipment a kind based on order object corresponding to sequence information, from each sequence information obtained Extract the pending task of one or more candidates that generates, such as, in the corresponding sequence information of the pending task of each candidate One class order object.
Then, in step S301, multiple described candidates are waited to hold by the described network equipment 1 based on described tasks carrying position Row task merges, and determines the one or more pending task that the one or more sequence information is corresponding, wherein, each Pending task is for processing order object corresponding with described tasks carrying position in the one or more sequence information. Here, the pending task of candidate corresponding for identical order object can be merged;Can also be by corresponding tasks carrying The pending task of candidate that position belongs to the different classes of order object of same partition holding corresponding merges.Here, Preferably, task pending to the one or more candidate merges operation, can make described tasks carrying position distribution More tight, or the pending task of one or more described candidate that relative distance is nearer to each other merges, thus carry High corresponding mobile robot 2 performs the whole efficiency of described pending task.Several the described candidates being determined are pending Task is the described network equipment 1 and will distribute to the described pending task of the mobile robot 2 of a described correspondence.Here, Preferably, the amount threshold of the pending task of described mobile robot 2 correspondence, the quantity of described pending task can be set Threshold value matches with the actual loading ability of described mobile robot 2, such as, if the described number of described mobile robot 2 correspondence Amount threshold value is N, and the pending task that the most described mobile robot 2 carries simultaneously not can exceed that N number of.Further, it is preferable that described Mobile robot 2 can obtain corresponding goods successively based on each pending task.Follow-up, it is preferable that also will to wait to hold with each Row task is the output that operating unit carries out goods, such as packaging operation etc..
Here, it is further preferred that the one or more pending task meets following at least either condition: one is to appoint Air line distance between the described tasks carrying position that two the described pending tasks of anticipating are corresponding is less than the first predetermined threshold value;Two are Short line between the described tasks carrying position that pending task described in any two is corresponding is less than the second predetermined threshold value;Three It is that the distance summation of corresponding described execution line information is less than the 3rd predetermined threshold value.Here, by being combined institute together State the restriction of tasks carrying position corresponding to one or more pending task, can efficiently control and anticipated described movement Robot 2 is time-consuming the task of execution.Here, described first predetermined threshold value, described second predetermined threshold value, the described 3rd preset threshold The concrete numerical value of value can be arranged flexibly based on being actually needed, such as, when described all kinds of threshold informations are the least, and the most each movement Robot 2 processes the time-consuming the shortest of the described pending mission bit stream after a combination also, otherwise, the longest.Here, described net Network equipment 1 can be based on overall task quantity, the quantity of corresponding mobile robot 2 and the actual negative of each mobile robot 2 The various dimensions combined factors such as loading capability consider, carry out the adjustment of above-mentioned all kinds of threshold information, to promote overall task scheduling effect Rate.
Here, those skilled in the art are it should be appreciated that each condition above-mentioned is only for example, other are existing or from now on Other conditions being likely to occur such as are applicable to the application, within also should being included in the application protection domain, and at this to quote Mode is incorporated herein.
In the present embodiment, it may be preferred to by the analysis to sequence information in storage application scenarios, determining can be by The pending task of candidate that mobile robot 2 processes, and closed by the described network equipment 1 task pending to described candidate And, to determine the one or more pending task corresponding to described target area, and then robot 2 can be moved accordingly hold Described pending task after the above-mentioned merging of row.Preferably, each pending task that described target area is corresponding can also expire The threshold condition that foot is certain so that the one or more pending task that corresponding mobile robot 2 combines in process Time, its entirety displacement is shorter or moving area is concentrated, thus improve the overall of described pending task and perform effect Rate.
Moreover it is preferred that in above-mentioned two preferred embodiment, the acquisition of described sequence information can be touched based on certain Clockwork spring part, such as, the quantity of the described sequence information to be combined such as current or the pending task of described candidate is less than predetermined number Threshold value;And for example, current time arrives the predetermined acquisition time.Further, it is preferable that for the described sequence information obtained or institute State the order object that the pending task of candidate is corresponding, if with corresponding resource stock's information match, then can be to corresponding institute State sequence information or the pending task of candidate merges operation, otherwise, preferably generate the resource stock of respective orders object not The information of foot, and the monitored object provided to task scheduling replenishes in order to remind.
In this application, an optional embodiment is, in step s 302, described mobile robot 2 receives corresponding net One or more pending task in the corresponding target area that network equipment 1 provides and the execution line information of correspondence, wherein, often Tasks carrying position corresponding to individual pending task is contained in described target area;Wherein, in step s 304, described moving machine Device people 2 is based on described execution line information, and the mobile tasks carrying position to correspondence is to perform corresponding pending task.? This, it is preferable that described mobile robot 2 gets described execution line information from the corresponding network equipment 1, such as, gets Perform the global path planning information of described pending task, and then, depend on from original position based on this global path planning information Secondary movement to tasks carrying position corresponding to task pending each described to perform corresponding one or more pending task.
In this application, another optional embodiment is, in step s 304, described mobile robot 2 is based on comprising The cartographic information of described target area, the mobile tasks carrying position to correspondence is to perform corresponding pending task.Here, institute State the cartographic information that mobile robot 2 is correlated with based on its described task scheduling got, such as, comprise described target area Cartographic information, in conjunction with the navigation feature of self, carries out corresponding local paths planning, thus move successively to one or Tasks carrying position corresponding to multiple pending tasks is to perform corresponding pending task.Described target is comprised described in here, The cartographic information in region can be the most i.e. to store or be carried in described mobile robot 2, or can also be by described net Network equipment 1 is combined with the one or more pending task mobile robot 2 provided along to described.
Fig. 4 illustrates that the one according to one preferred embodiment of the application is moving robotic end for entering in target area The method flow diagram of row task scheduling.
Wherein, described method includes step S401 and step S402, wherein, described step S402 include step S40201 and Step S40202.Here, in step S401, described mobile robot 2 receives the corresponding target area that map network equipment 1 provides One or more pending task in territory, wherein, tasks carrying position corresponding to each pending task is contained in described mesh Mark region;In step S40201, described mobile robot 2 moves to one or more pending tasks first pending The tasks carrying position that business is corresponding;In step S40202, it is current that described mobile robot 2 obtains described mobile robot 2 Execution status of task information.Here, described step S401 is identical or essentially identical with the step S302 content shown in Fig. 3, here, Repeat no more, and be incorporated herein by reference.
Specifically, the described execution line information that described mobile robot 2 can provide according to the described network equipment 1, moves Move to tasks carrying position corresponding to described first pending task.Or, it is also possible to it is that described mobile robot 2 is based on institute Stating the cartographic information comprising described target area, programme path moves to the task that described first pending task is corresponding and holds voluntarily Line position.Here, described first pending task can be that in the one or more pending task, any one is pending Task.In step S40202, described mobile robot 2 obtains the execution status of task information that described mobile robot 2 is current. Perform in task process here, described execution status of task information is described mobile robot 2, the state letter in each corresponding moment Breath.Here, the execution status of task information that described mobile robot 2 is current that obtains in real time can be arranged;Or, it is also possible in advance It is arranged on specific event node or the execution status of task information of the described mobile robot 2 of timing node acquisition, here, excellent Selection of land, described execution status of task information includes following at least any one: arrive the status information of tasks carrying position;Task is held Row startup information;Tasks carrying completes information.Here, the acquisition of described execution status of task information can be described mobile machine People 2 is based on its current location information automatic decision, such as, when described mobile robot 2 moves to described first pending task Tasks carrying position after, automatically generate the status information of described arrival tasks carrying position;Further, it is also possible to it is right based on other The operation of elephant, submits described execution status of task information extremely described mobile robot 2 to, such as, in storage scene, by operator Member's touch control operation on the intelligent display screen of described mobile robot 2 correspondence, such as, clicks on and starts join goods button or join Goods completes button etc., so that described mobile robot 2 obtains its current tasks carrying startup information or tasks carrying is complete One-tenth information etc..
Additionally, described execution status of task can also include, when described mobile robot 2 runs into obstacle, setting to map network The complaint message that preparation is sent, it is also possible to include when described mobile robot 2 electricity is relatively low pre-to the electricity of network equipment transmission Alarming information.Here, those skilled in the art are it should be appreciated that each execution status of task information above-mentioned is only for example, other Other execution status of task information that are existing or that be likely to occur from now on are such as applicable to the application, also should be included in the application and protect Within protecting scope, and it is incorporated herein with way of reference at this.
Further, it is preferable that if the current execution status of task information of described mobile robot 2 is that described tasks carrying opens Dynamic information, described step S402 also includes step S40203 (not shown), step S40204 (not shown) and step S40205 (not Illustrate);Wherein, in step S40203, described mobile robot 2, based on the object identification information obtained, determines described first The task object that pending task is corresponding;In step S40204, described mobile robot 2 presents corresponding with described task object Glove information;In step S40205, the glove that described mobile robot 2 obtains described task object corresponding completes letter Breath.
Here, as a example by storage scheduling of resource scene, task object is resource to be scheduled, such as various goods, described in treat Execution task, i.e. can include the tasks such as the carrying or the assembling that carry out corresponding goods based on order for goods.Preferably, institute State mobile robot 2 to move to described tasks carrying position, or wait or be immediately performed described first pending Business, if described first pending task start tasks carrying, such as, by operator in described mobile robot 2 correspondence Clicking on intelligent display screen and start to join goods button, the most described mobile robot 2 current task execution state information is described Business performs startup information.Now, in step S40203, described mobile robot 2, based on the object identification information obtained, determines The task object that described first pending task is corresponding.Here, preferably, described task object can include that one or more are ordered Single object, every kind of order object can also have one or more.Described object identification information can include described task object Identification information, such as the bar code of goods to be handled, it is preferable that described mobile robot 2 can be by the object coding configured Scanning means, the bar code of scanning goods, the task object corresponding to confirm described first pending task.Then, in step In rapid S40204, described mobile robot 2 presents the glove information corresponding with described task object.Described mobile robot 2 can judge, based on described object identification information, the glove region that the goods of described first pending task is corresponding, present correspondence Glove information, such as, the glove region bright light of described correspondence, with prompting, described goods is placed on this glove region. Then, after described task object is placed on this glove region, mobile robot 2 can automatically generate glove and complete information, Or being clicked on glove on the intelligent display screen of described mobile robot 2 correspondence by operator completes button.Preferred at this Ground, described tasks carrying completes information can include that described glove completes information.Here, preferably, described glove region be with Each sequence information is that unit is arranged, and the most each glove region correspondence deposits whole order object corresponding to sequence information.
Preferably, if the current execution status of task information of described mobile robot 2 is that tasks carrying completes information, described Step S402 also includes step S40206 (not shown), and in step S40206, described mobile robot 2 is based on described execution line Road information or described in comprise the cartographic information of described target area, mobile wait to hold in one or more pending tasks second The tasks carrying position that row task is corresponding.Here, after described mobile robot 2 has performed described first pending task, Can move to immediately described first pending again along the described execution line information being obtained ahead of time from the network equipment 1 The tasks carrying position that the second pending task after business is corresponding;The map letter of described target area is comprised described in being also based on Breath, plan voluntarily move from the tasks carrying position that described first pending task is corresponding to predetermined after which second wait to hold Shiftable haulage line between the tasks carrying position that row task is corresponding, and shiftable haulage line based on described planning moves.
In a preferred embodiment, described step S402 also includes step S40207 (not shown), in step S40207 In, the network equipment 1 of the execution status of task information transmission extremely correspondence that described mobile robot 2 is current.Specifically, described movement Current execution status of task information can be sent to right after getting current execution status of task information by robot 2 The network equipment 1 answered.So that the described network equipment 1 can monitor the task scheduling process of each described mobile robot 2 in real time. Thus, facilitate the described network equipment 1 to send to described mobile robot 2 and perform instruction to dispatch described mobile robot 2.
Here, preferably, if the current execution status of task information of described mobile robot 2 is that tasks carrying completes letter Breath, in step S40207, described tasks carrying is completed information and sends to the corresponding network equipment 1 by described mobile robot 2; Wherein, described step S402 also includes step S40208 (not shown) and step S40209 (not shown), in step S40208, The first task that described mobile robot 2 receives map network equipment 1 performs instruction;In step S40209, described moving machine Device people 2 performs instruction based on described first task, the tasks carrying position of presently described first pending task move to institute State the tasks carrying position that the second pending task predetermined in one or more pending task is corresponding.Here, it is described predetermined Pending task, can be described mobile robot 2 obtain the one or more pending task in, execution sequence tight Follow the pending task after described current pending task;Can also hold described in the acquisition of described mobile robot 2 Current task shown in row line information performs the next task of position and performs the pending task corresponding to position.
Here, preferably, if the current execution status of task information of described mobile robot 2 is that described tasks carrying completes Information, wherein, described tasks carrying is completed information and sends to the corresponding network equipment 1 by described mobile robot 2;Wherein, institute State step S402 and also include step S40210 (not shown) and step S40211 (not shown), in step S40210, described shifting Mobile robot 2 receives the second task-performance instructions of map network equipment 1;In step S40211, described mobile robot 2 base In described second task-performance instructions, move the tasks carrying position to the 3rd pending task place, wherein, described second It is that map network equipment 1 determines based on the modification information that the one or more pending task is corresponding that business performs instruction.
Specifically, when the described network equipment 1 monitor simultaneously multiple mobile robot 2 carry out task scheduling time, if task Scheduling process occurring, some target area has multiple mobile robot 2 queuing up or waiting task scheduling at synchronization, Then in order to recover stable, the equilibrium of overall task scheduling, the predetermined scheduler task that part can move robot 2 is adjusted Whole.Moved robot 2 by the described network equipment 1 to corresponding certain and send the second task-performance instructions so that corresponding is described Mobile robot 2 is according to described modification information, the mobile tasks carrying position to next pending task place.Here, institute State modification information and include but not limited to following at least any one: one is, the execution that the one or more pending task is corresponding The modification information of circuit;Two is the modification information of execution sequence corresponding to the one or more pending task;Three is described The task modification information of one or more pending tasks.
Preferably, if the current execution status of task information of described mobile robot 2 is that tasks carrying completes information, described Step S402 also includes step S40212 (not shown), and in step S40212, described mobile robot 2 moves and appoints to corresponding Business object handles region is to export task object, and wherein, described first pending task is default labelling task.
Here, as a example by storage scheduling of resource scene, for the task object of described mobile robot 2 carrying, such as carrying Goods, the most also can export accordingly, such as, goods be unloaded, the corresponding operating such as packing.Here, this institute State the network equipment 1 when providing to described mobile robot 2 one or more described pending task, be i.e. arranged on described the After one pending task, described mobile robot 2 will be moved to corresponding task object processing region, here, described labelling is appointed Business can have multiple, or preferably, arranges described labelling task, and the most described first pending task is described mobile robot In the 2 one or more described pending tasks obtained, execution sequence is in a last pending task.Here, preferably, When completing the output of described task object, execution status of task information now can be sent extremely by described mobile robot 2 The corresponding network equipment 1, and wait the described network equipment 1 perform instruction, such as distribute new pending task, or instruct It returns to region of awaiting orders.
Preferably, described method also includes step S403 (not shown), and in step S403, described mobile robot 2 connects Receive the travel rule of the described mobile robot 2 that map network equipment 1 provides;Wherein, in step S402, described mobile machine People 2 moves to corresponding tasks carrying position based on described travel rule to perform corresponding pending task.Described moving machine The travel rule of device people 2 includes but not limited to right lateral rule that mobile robot 2 moves, advances rule at the rotary island of cross junction Then, when two or more mobile robots 2 meet dodge passing rules, gait of march arrange rule etc..Described mobile machine People 2 based on described travel rule, can adjust move mode or the translational speed etc. of oneself in moving process in real time.
Preferably, described method also includes step S404 (not shown), and in step s 404, described mobile robot 2 connects Receive the following at least any one information that map network equipment 1 provides: the Fault handling of mobile robot 2 is regular;Mobile robot 2 Law of electric charges.Wherein, described method also includes following at least any one: step S405 (not shown), in step S405, and institute State mobile robot 2 Fault handling based on described mobile robot 2 rule, process the disorder event in traveling process;Step S406 (not shown), in step S406, described mobile robot 2 law of electric charges based on described mobile robot 2, moves extremely Charging zone of awaiting orders is charged.Here, the Fault handling rule of described mobile robot 2, during task scheduling can being included Run into the treatment mechanism voluntarily of obstacle, obstacle reports mechanism etc.;The law of electric charges of described mobile robot 2, can include charging Operation trigger condition etc..Here, those skilled in the art are it should be appreciated that above-mentioned all kinds of offer is to corresponding mobile robot The information of 2 is only for example, and other other information that are existing or that be likely to occur from now on are such as applicable to the application, also should be included in Within the application protection domain, and it is incorporated herein with way of reference at this.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned one exemplary embodiment, Er Qie In the case of spirit herein or basic feature, it is possible to realize the application in other specific forms.Therefore, no matter From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present application is by appended power Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim Change is included in the application.Should not be considered as limiting involved claim by any reference in claim.This Outward, it is clear that " including ", a word was not excluded for other unit or step, and odd number is not excluded for plural number.In device claim, statement is multiple Unit or device can also be realized by software or hardware by a unit or device.The first, the second word such as grade is used for table Show title, and be not offered as any specific order.

Claims (48)

1., at network equipment end for the method carrying out task scheduling in target area, wherein, described method includes:
Obtain the one or more pending task in target area, wherein, the tasks carrying position that each pending task is corresponding Put and be contained in described target area;
The one or more pending task is provided to corresponding mobile robot.
Method the most according to claim 1, wherein, described method also includes:
Following at least any one is provided to corresponding mobile robot:
The execution line information corresponding with the one or more pending task;
Comprise the cartographic information of described target area;
The travel rule of described mobile robot;
The Fault handling rule of described mobile robot;
The law of electric charges of described mobile robot.
Method the most according to claim 1 and 2, wherein, described method also includes:
Receive the execution status of task information that described mobile robot is submitted to.
The most according to the method in any one of claims 1 to 3, wherein, described method also includes:
Send to described mobile machine Crinis Carbonisatus and perform instruction.
Method the most according to claim 4, wherein, described execution instruction includes following at least any one:
First task performs instruction, in order to instruct the described mobile robot tasks carrying position by current pending task place The mobile tasks carrying position to predetermined pending task place;
Second task-performance instructions, in order to the modification information corresponding based on described pending task, instructs described mobile robot The tasks carrying position to next pending task place is moved by the tasks carrying position at current pending task place;
Fault handling instructs;
Charging instruction.
Method the most according to claim 5, wherein, described modification information includes following at least any one:
The modification information performing circuit that the one or more pending task is corresponding;
The modification information of the execution sequence that the one or more pending task is corresponding;
The task modification information of the one or more pending task.
Method the most according to any one of claim 1 to 6, wherein, described method also includes:
Determining a collection of or many batch of order based on acquired one or more sequence informations, wherein, every batch of order comprises at least one Individual described sequence information, and each sequence information comprises one or more order object, each order object correspondence target area An interior tasks carrying position;
Wherein, the one or more pending task in described acquisition target area, wherein, corresponding the appointing of each pending task Business execution position is contained in described target area and includes:
Based on described tasks carrying position, determining the one or more pending task that every batch of order is corresponding, wherein, each waiting is held Row task is for processing order object corresponding with described tasks carrying position in this batch of the comprised sequence information of order.
Method the most according to any one of claim 1 to 6, wherein, described method also includes:
Based on acquired one or more sequence informations, determine that one or more candidates corresponding to each sequence information are pending Task, wherein, each sequence information comprises one or more order object, in each order object correspondence target area Tasks carrying position, the pending task of each candidate is for processing in this sequence information the one of corresponding same tasks carrying position Individual or multiple order object;
Wherein, the one or more pending task in described acquisition target area, wherein, corresponding the appointing of each pending task Business execution position is contained in described target area and includes:
Based on described tasks carrying position, multiple pending tasks of described candidate are merged, determine that the one or more is ordered The one or more pending task that single information is corresponding, wherein, each pending task is used for processing the one or more and orders Order object corresponding with described tasks carrying position in single information.
Method the most according to claim 8, wherein, the one or more pending task meets following at least any bar Part:
Air line distance between the described tasks carrying position that pending task described in any two is corresponding presets threshold less than first Value;
Short line between the described tasks carrying position that pending task described in any two is corresponding presets threshold less than second Value;
The distance summation of corresponding described execution line information is less than the 3rd predetermined threshold value.
Method the most according to any one of claim 1 to 9, wherein, described step b includes:
The one or more pending task is provided to available mobile robot.
11. 1 kinds are used for the method carrying out task scheduling in target area, wherein, described method bag in mobile robotic end Include:
Receiving the one or more pending task in the corresponding target area that map network equipment provides, wherein, each waiting is held Tasks carrying position corresponding to row task is contained in described target area;
The mobile tasks carrying position to correspondence is to perform corresponding pending task.
12. methods according to claim 11, wherein, in the corresponding target area that described reception map network equipment provides One or more pending task, wherein, tasks carrying position corresponding to each pending task is contained in described target area Territory includes:
Receive the one or more pending task in the corresponding target area that map network equipment provides and the execution line of correspondence Road information, wherein, tasks carrying position corresponding to each pending task is contained in described target area;
Wherein, described movement includes to corresponding tasks carrying position to perform corresponding pending task:
Based on described execution line information, the mobile tasks carrying position to correspondence is to perform corresponding pending task.
13. methods according to claim 11, wherein, described movement to corresponding tasks carrying position is to perform correspondence Pending task includes:
Based on comprising the cartographic information of described target area, mobile corresponding pending to perform to corresponding tasks carrying position Task.
14. according to the method described in claim 12 or 13, and wherein, described movement is right to perform to corresponding tasks carrying position The pending task answered includes:
The mobile tasks carrying position corresponding to the first pending task in one or more pending tasks;
Obtain the execution status of task information that described mobile robot is current.
15. methods according to claim 14, wherein, described execution status of task information includes following at least any one:
Arrive the status information of tasks carrying position;
Tasks carrying starts information;
Tasks carrying completes information.
16. methods according to claim 15, wherein, if the current execution status of task information of described mobile robot is Described tasks carrying starts information, and described movement to corresponding tasks carrying position is also wrapped to perform corresponding pending task Include:
Based on the object identification information obtained, determine the task object that described first pending task is corresponding;
Present the glove information corresponding with described task object;
The glove obtaining described task object corresponding completes information.
17. according to the method described in claim 15 or 16, wherein, if the execution status of task letter that described mobile robot is current Breath completes information for tasks carrying, and described movement to corresponding tasks carrying position is also wrapped to perform corresponding pending task Include:
Based on described execution line information or described in comprise the cartographic information of described target area, mobile treats to the most one or more The tasks carrying position that in execution task, the second pending task is corresponding.
18. according to the method according to any one of claim 14 to 16, and wherein, described movement is to corresponding tasks carrying position Also include with the pending task that execution is corresponding:
Execution status of task information current for described mobile robot is sent to the corresponding network equipment.
19. methods according to claim 18, wherein, if the current execution status of task information of described mobile robot is Tasks carrying completes information, and described step B7 includes:
The information that completed by described tasks carrying sends to the corresponding network equipment;
Wherein, described movement also includes to corresponding tasks carrying position to perform corresponding pending task:
The first task receiving map network equipment performs instruction;
Perform instruction based on described first task, the tasks carrying position of presently described first pending task move to described The tasks carrying position that the second pending task predetermined in one or more pending tasks is corresponding.
20. methods according to claim 18, wherein, if the current execution status of task information of described mobile robot is Described tasks carrying completes information, and wherein, described step B7 includes:
The information that completed by described tasks carrying sends to the corresponding network equipment;
Wherein, described movement also includes to corresponding tasks carrying position to perform corresponding pending task:
Receive the second task-performance instructions of map network equipment;
Based on described second task-performance instructions, move the tasks carrying position to the 3rd pending task place, wherein, described Second task-performance instructions is that map network equipment determines based on the modification information that the one or more pending task is corresponding 's.
21. according to the method described in claim 15 or 16, wherein, if the execution status of task letter that described mobile robot is current Breath completes information for tasks carrying, and described movement to corresponding tasks carrying position is also wrapped to perform corresponding pending task Include:
Move to corresponding task object processing region so that task object is exported, wherein, described first pending task For default labelling task.
22. according to the method according to any one of claim 11 to 21, and wherein, described method also includes:
Receive the travel rule of the described mobile robot that map network equipment provides;
Wherein, described movement includes to corresponding tasks carrying position to perform corresponding pending task:
Move to corresponding tasks carrying position based on described travel rule to perform corresponding pending task.
23. according to the method according to any one of claim 11 to 22, and wherein, described method also includes:
The following at least any one information that reception map network equipment provides:
The Fault handling rule of mobile robot;
The law of electric charges of mobile robot;
Wherein, described method also includes following at least any one:
Fault handling based on described mobile robot rule, processes the disorder event in traveling process;
Law of electric charges based on described mobile robot, moves and is charged to charging zone of awaiting orders.
24. 1 kinds of network equipments being used for carrying out task scheduling in target area, wherein, described equipment includes:
First device, for obtaining the one or more pending task in target area, wherein, each pending task is corresponding Tasks carrying position be contained in described target area;
Second device, for providing the one or more pending task to corresponding mobile robot.
25. equipment according to claim 24, wherein, described equipment also includes:
3rd device, for following at least any one is provided to corresponding mobile robot:
The execution line information corresponding with the one or more pending task;
Comprise the cartographic information of described target area;
The travel rule of described mobile robot;
The Fault handling rule of described mobile robot;
The law of electric charges of described mobile robot.
26. according to the equipment described in claim 24 or 25, and wherein, described equipment also includes:
4th device, for receiving the execution status of task information that described mobile robot is submitted to.
27. according to the equipment according to any one of claim 24 to 26, and wherein, described equipment also includes:
5th device, performs instruction for sending to described mobile machine Crinis Carbonisatus.
28. equipment according to claim 27, wherein, described execution instruction includes following at least any one:
First task performs instruction, in order to instruct the described mobile robot tasks carrying position by current pending task place The mobile tasks carrying position to predetermined pending task place;
Second task-performance instructions, in order to the modification information corresponding based on described pending task, instructs described mobile robot The tasks carrying position to next pending task place is moved by the tasks carrying position at current pending task place;
Fault handling instructs;
Charging instruction.
29. equipment according to claim 28, wherein, described modification information includes following at least any one:
The modification information performing circuit that the one or more pending task is corresponding;
The modification information of the execution sequence that the one or more pending task is corresponding;
The task modification information of the one or more pending task.
30. according to the equipment according to any one of claim 24 to 29, and wherein, described equipment also includes:
6th device, for determining a collection of or many batch of order, wherein, every batch based on acquired one or more sequence informations Order comprises at least one described sequence information, and each sequence information comprises one or more order object, each order pair As a tasks carrying position in corresponding target area;
Wherein, described first device is used for:
Based on described tasks carrying position, determining the one or more pending task that every batch of order is corresponding, wherein, each waiting is held Row task is for processing order object corresponding with described tasks carrying position in this batch of the comprised sequence information of order.
31. according to the equipment according to any one of claim 24 to 29, and wherein, described equipment also includes:
7th device, for based on acquired one or more sequence informations, determine each sequence information corresponding or The pending task of multiple candidates, wherein, each sequence information comprises one or more order object, each order object correspondence mesh A tasks carrying position in mark region, the pending task of each candidate is used for processing in this sequence information corresponding same Business performs one or more order object of position;
Wherein, described first device is used for:
Based on described tasks carrying position, multiple pending tasks of described candidate are merged, determine that the one or more is ordered The one or more pending task that single information is corresponding, wherein, each pending task is used for processing the one or more and orders Order object corresponding with described tasks carrying position in single information.
32. equipment according to claim 31, wherein, described one or more pending task meets at least appoints below One condition:
Air line distance between the described tasks carrying position that pending task described in any two is corresponding presets threshold less than first Value;
Short line between the described tasks carrying position that pending task described in any two is corresponding presets threshold less than second Value;
The distance summation of corresponding described execution line information is less than the 3rd predetermined threshold value.
33. according to the equipment according to any one of claim 24 to 32, and wherein, described second device is used for:
The one or more pending task is provided to available mobile robot.
34. 1 kinds of mobile robots being used for carrying out task scheduling in target area, wherein, described mobile robot includes:
8th device, the one or more pending task in receiving the corresponding target area that map network equipment provides, Wherein, the tasks carrying position that each pending task is corresponding is contained in described target area;
9th device, for the mobile tasks carrying position to correspondence to perform corresponding pending task.
35. mobile robots according to claim 34, wherein, described 8th device is used for:
Receive the one or more pending task in the corresponding target area that map network equipment provides and the execution line of correspondence Road information, wherein, tasks carrying position corresponding to each pending task is contained in described target area;
Wherein, described 9th device is used for:
Based on described execution line information, the mobile tasks carrying position to correspondence is to perform corresponding pending task.
36. mobile robots according to claim 34, wherein, described 9th device is used for:
Based on comprising the cartographic information of described target area, mobile corresponding pending to perform to corresponding tasks carrying position Task.
37. according to the mobile robot described in claim 35 or 36, and wherein, described 9th device includes:
First module, for the mobile tasks carrying position corresponding to the first pending task in one or more pending tasks Put;
Second unit, for obtaining the execution status of task information that described mobile robot is current.
38. according to the mobile robot described in claim 37, and wherein, described execution status of task information includes following at least appointing One:
Arrive the status information of tasks carrying position;
Tasks carrying starts information;
Tasks carrying completes information.
39. according to the mobile robot described in claim 38, wherein, if the execution status of task that described mobile robot is current Information is that described tasks carrying starts information, and described 9th device also includes:
Unit the 3rd, for based on the object identification information obtained, determining the task object that described first pending task is corresponding;
Unit the 4th, for presenting the glove information corresponding with described task object;
Unit the 5th, completes information for the glove obtaining described task object corresponding.
40. according to the mobile robot described in claim 38 or 39, wherein, if the tasks carrying that described mobile robot is current Status information is that tasks carrying completes information, and described 9th device also includes:
Unit the 6th, for based on described execution line information or described in comprise the cartographic information of described target area, mobile extremely The tasks carrying position that in one or more pending tasks, the second pending task is corresponding.
41. according to the mobile robot according to any one of claim 37 to 39, and wherein, described 9th device also includes:
Unit the 7th, for sending execution status of task information current for described mobile robot to the corresponding network equipment.
42. mobile robots according to claim 41, wherein, if the execution status of task that described mobile robot is current Information is that tasks carrying completes information, and described Unit the 7th is used for:
The information that completed by described tasks carrying sends to the corresponding network equipment;
Wherein, described 9th device also includes:
Unit the 8th, performs instruction for receiving the first task of map network equipment;
Unit the 9th, for performing instruction based on described first task, by the tasks carrying of presently described first pending task Position is moved to tasks carrying position corresponding to the second pending task predetermined in the one or more pending task.
43. mobile robots according to claim 41, wherein, if the execution status of task that described mobile robot is current Information is that described tasks carrying completes information, and wherein, described Unit the 7th is used for:
The information that completed by described tasks carrying sends to the corresponding network equipment;
Wherein, described 9th device also includes:
Unit the tenth, for receiving the second task-performance instructions of map network equipment;
Unit the 11st, for based on described second task-performance instructions, the mobile task to the 3rd pending task place is held Line position, wherein, described second task-performance instructions is that map network equipment is based on the one or more pending task pair The modification information answered determines.
44. according to the mobile robot described in claim 38 or 39, wherein, if the current task of described mobile robot is held Row status information is that tasks carrying completes information, and described 9th device also includes:
Unit the 12nd, for moving to corresponding task object processing region so that task object is exported, wherein, described First pending task is default labelling task.
45. according to the mobile robot according to any one of claim 34 to 44, and wherein, described mobile robot also includes:
Tenth device, for receiving the travel rule of the described mobile robot that map network equipment provides;
Wherein, described 9th device is used for:
Move to corresponding tasks carrying position based on described travel rule to perform corresponding pending task.
46. according to the mobile robot according to any one of claim 34 to 45, and wherein, described mobile robot also includes:
11st device, for receiving the following at least any one information that map network equipment provides:
The Fault handling rule of mobile robot;
The law of electric charges of mobile robot;
Wherein, described mobile robot also includes following at least any one:
Tenth two devices, for Fault handling based on described mobile robot rule, processes the disorder event in traveling process;
13rd device, for law of electric charges based on described mobile robot, moves and is charged to charging zone of awaiting orders.
47. according to the mobile robot according to any one of claim 34 to 46, and wherein, described mobile robot includes following At least any one:
Intelligent display screen;
Object coding scanning means, is used for obtaining object identification information;
Article-holding device, including one or goods multiple glove region;
One or more sensors;
Other hardware loading interfaces.
48. 1 kinds of systems being used for carrying out task scheduling in target area, including institute as any one of claim 24 to 33 The network equipment stated and the mobile robot as according to any one of claim 34 to 47.
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