CN108227654A - A kind of dispatch service end, dispatching device, robot system and dispatching method - Google Patents
A kind of dispatch service end, dispatching device, robot system and dispatching method Download PDFInfo
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- CN108227654A CN108227654A CN201711462571.7A CN201711462571A CN108227654A CN 108227654 A CN108227654 A CN 108227654A CN 201711462571 A CN201711462571 A CN 201711462571A CN 108227654 A CN108227654 A CN 108227654A
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- subtask
- task
- scheduler task
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention relates to a kind of dispatch service end, dispatching device, robot system and dispatching methods.First communication unit is configured to receive scheduling request, and each scheduler task is respectively sent to the autodispatcher of institute dispensation machines people so that the scheduler task is divided into one or more subtasks by the autodispatcher, Automatic dispatching is completed based on each subtask；First scheduling unit is configured to the scheduler task sequence for including several scheduler tasks according to scheduling request generation, and respectively each scheduler task dispensation machines people.Each unit is cooperated with each other, is coordinated, and is decomposed by graded dispatching and task sequence, is reduced information exchange and the traffic.First scheduling unit is also configured to be scheduled scheduling task sequence the dynamic increase of task or delete, and realizes the scheduling of chain type dynamic task, scheduler task is added and adjusted to dynamic according to actual needs.
Description
Technical field
The present invention relates to robot scheduling field more particularly to a kind of dispatch service end, dispatching device, robot system and
Dispatching method.
Background technology
In existing robot scheduling system, tens even up to a hundred mobile robots can be usually scheduled, this
A little robots generally carry out comprehensive management and control by central dispatch system, dispatch system and scheduling scheme is very huge and complicated, meter
Calculation amount and the traffic are all very huge, poor for the suitability of complex environment and dynamic task, without total solution.
Invention content
In order to solve the above-mentioned technical problem, the purpose of the present invention is to provide a kind of dispatch service end, dispatching device, machines
People's system and dispatching method.
According to an aspect of the invention, there is provided a kind of Automatic dispatching server-side, including：
First communication unit is configured to receive scheduling request, and each scheduler task is respectively sent to institute's dispensation machines
The scheduler task is divided into one or more subtasks by the autodispatcher of people for the autodispatcher, is based on
Complete Automatic dispatching in each subtask；
First scheduling unit is configured to the scheduler task sequence for including several scheduler tasks according to scheduling request generation
Row, and respectively each scheduler task dispensation machines people.
Further, the first communication unit is also configured to receive scheduler task and/or the institute that autodispatcher is sent
State subtask implementing result；And/or
The path that the execution of planning is safeguarded is sent to the autodispatcher of corresponding machine people for the Automatic dispatching
Device completes Automatic dispatching.
Further, the first scheduling unit is also configured to be configured the modification information of the scheduler task execution sequence；With/
Or,
Priority ranking is carried out to scheduler task, adjusting the first communication unit according to the priority of the scheduler task issues
Queue is performed to the scheduler task of autodispatcher；And/or
The increase or deletion of task are scheduled to scheduling task sequence；And/or
Robot performance's information with predetermined threshold value is compared, if performance information is less than predetermined threshold value, plans and performs maintenance
Path.
Wherein, the scheduler task for autodispatcher being handed down to according to the adjustment of the priority of the scheduler task performs queue
Including：
Current scheduling task is hung up according to scheduler task priority；
Confirm that the priority preferentially issued by the first communication unit is high in rear scheduler task；
It is finished information according in rear scheduler task, activates and formerly hang up scheduler task.
According to another aspect of the present invention, a kind of autodispatcher is provided, is configured in robot, including：
Second communication unit, is configured to receive the scheduler task that automatic dispatch service end is sent, the scheduler task by
Automatic dispatching server-side includes the scheduler task sequence of several scheduler tasks according to the generation of the scheduling request of reception, and is respectively each
The autodispatcher of institute dispensation machines people is sent to after the scheduler task dispensation machines people；
Processing unit is configured to the scheduler task being divided into one or more subtasks；
Execution unit is configured to complete Automatic dispatching to each subtask.
Further, there is timing in the subtask.
Further, the subtask is without timing.
Further, the corresponding tasks carrying position in the subtask include loading area, Accreditation Waiting Area, loading dock, empty van area,
Traffic zone, maintenance area, charging zone one or more task execution areas combination.
Further, several subtasks operation that each task execution area performs is configured.
Further, processing unit is also configured to plan the subtask execution route,
Execution unit is also configured to complete Automatic dispatching to the subtask along the execution route.
Further, processing unit is also configured to robot performance's information and is compared with predetermined threshold value, if robot performance
Information is less than predetermined threshold value, then plans the path for performing and safeguarding；And/or
Adjust the time interval between the subtask；And/or
The subtask is adjusted according to the priority of the subtask and performs queue.
Wherein, the subtask is adjusted according to the priority of the subtask and performs queue, including：
Current subtask is hung up according to the priority of subtask；
Confirm that priority is high in rear subtask；
According to the information that is finished in rear subtask, activate and formerly hang up subtask.
Further, the second communication unit is also configured to send the subtask implementing result；And/or
Receive the subtask sequence of requests；And/or
It is sent to current subtask and stops or hang up information；And/or
The order begun a task with sent to the subtask sequence of the request；And/or
The associated instruction set for sending the subtask starts information；And/or
Distribution of machine people's performance information, so that Automatic dispatching server-side is when performance information is less than predetermined threshold value, planning is held
The path that row is safeguarded.
According to another aspect of the present invention, a kind of robot system is provided, it is automatic including as above any one of them
Dispatch service end and, several as above any one of them autodispatchers.
Further, robot and one kind that the connection mode carried between babinet is absorption type, pull-alongs, jacking type.
According to another aspect of the present invention, a kind of automatic scheduling method is provided, is included the following steps：
Receive scheduling request；
Include the scheduler task sequence of several scheduler tasks, and respectively each scheduling according to scheduling request generation
Task is distributed, and the scheduler task can be divided into several subtasks, and the machine of Automatic dispatching is completed to each subtask
People.
Further, the automatic scheduling method, further includes：
Receive scheduler task and/or the subtask implementing result that the autodispatcher of robot is sent；And/or
The path that the execution of planning is safeguarded is sent to the autodispatcher of corresponding machine people for the Automatic dispatching
Device completes Automatic dispatching.
Further, the automatic scheduling method, further includes：
The modification information of the scheduler task execution sequence is configured；And/or
Priority ranking is carried out to scheduler task, adjusting the first communication unit according to the priority of the scheduler task issues
Queue is performed to the scheduler task of autodispatcher；And/or
The increase or deletion of task are scheduled to scheduling task sequence；And/or
Robot performance's information with predetermined threshold value is compared, if performance information is less than predetermined threshold value, plans and performs maintenance
Path.
Further, the scheduler task that autodispatcher is handed down to according to the adjustment of the priority of the scheduler task performs
Queue includes：
Current scheduling task is hung up according to scheduler task priority；
Confirm that the priority preferentially issued by the first communication unit is high in rear scheduler task；
It is finished information according in rear scheduler task, activates and formerly hang up scheduler task.
According to another aspect of the present invention, a kind of automatic scheduling method is provided, is included the following steps：
Receive the scheduler task that automatic dispatch service end is sent, the scheduler task by the Automatic dispatching server-side according to
The scheduling request generation of reception includes the scheduler task sequence of several scheduler tasks, and respectively each scheduler task dispenser
The autodispatcher of institute dispensation machines people is sent to after device people；
The scheduler task is divided into one or more subtasks；
Automatic dispatching is completed to each subtask.
Further, there is timing in the subtask.
Further, the subtask is without timing.
Further, the corresponding tasks carrying position in the subtask include loading area, Accreditation Waiting Area, loading dock, empty van area,
Traffic zone, maintenance area, charging zone one or more task execution areas combination.
Further, the autodispatcher, further includes：Several subtasks behaviour that each task execution area performs is configured
Make.
Further, the automatic scheduling method, further includes：
Plan the subtask execution route；And/or
Automatic dispatching is completed to the subtask along the execution route；And/or
Send the subtask implementing result；And/or
Receive the subtask sequence of requests；And/or
It is sent to current subtask and stops or hang up information；And/or
The order begun a task with sent to the subtask sequence of the request；And/or
The associated instruction set for sending the subtask starts information；And/or
Adjust the time interval between the subtask；And/or
Robot performance's information is compared with predetermined threshold value, if robot performance's information is less than predetermined threshold value, planning is held
The path that row is safeguarded；And/or
Distribution of machine people's performance information, so that Automatic dispatching server-side is when performance information is less than predetermined threshold value, planning is held
The path that row is safeguarded；And/or
And/or
Adjust the time interval between the subtask；And/or
The subtask is adjusted according to the priority of the subtask and performs queue.
The subtask is adjusted according to the priority of the subtask and performs queue, including：
Current subtask is hung up according to the priority of subtask；
Confirm that priority is high in rear subtask；
According to the information that is finished in rear subtask, activate and formerly hang up subtask.
According to an aspect of the invention, there is provided a kind of equipment, the equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are performed by one or more of processors so that one or more of places
It manages device and performs as above any one of them method.
According to an aspect of the invention, there is provided a kind of computer readable storage medium for being stored with computer program,
As above any one of them method is realized when the program is executed by processor.
Compared with prior art, the invention has the advantages that：
1st, the exemplary Automatic dispatching server-side of the present invention, the first communication unit are configured to receive scheduling request, and will be each
Scheduler task is respectively sent to the autodispatcher of institute dispensation machines people so that the autodispatcher appoints the scheduling
Business is divided into one or more subtasks, and Automatic dispatching is completed based on each subtask；First scheduling unit is configured to root
Include the scheduler task sequence of several scheduler tasks, and respectively each scheduler task dispenser according to scheduling request generation
Device people.Each unit is cooperated with each other, is coordinated, and is decomposed by graded dispatching and task sequence, is reduced information exchange and the traffic.
First scheduling unit is also configured to be scheduled scheduling task sequence the dynamic increase of task or delete, and realizes that chain type is moved
Scheduler task is dynamically added and is adjusted according to actual needs in the scheduling of state task.
2nd, the exemplary autodispatcher of the present invention, is configured in robot, the second communication unit be configured to received from
The scheduler task that dynamic dispatch service end is sent, the scheduler task are generated by Automatic dispatching server-side according to the scheduling request of reception
Scheduler task sequence including several scheduler tasks, and be sent to and distributed after respectively each scheduler task dispensation machines people
The autodispatcher of robot；Processing unit is configured to the scheduler task being divided into one or more subtasks；It holds
Row unit is configured to complete Automatic dispatching to each subtask.Each unit is cooperated with each other, is coordinated, simple in structure, significantly
Effect of the robot in scheduling is strengthened, reduces information exchange and the traffic, is improved with this to complex environment and dynamic
The adaptability of task.
3rd, the exemplary robot system of the present invention, including as above any one of them Automatic dispatching server-side and, it is several
A as above any one of them autodispatcher.Realize that graded dispatching and task sequence decompose, it can be by a scheduler task
Simultaneously distribute to multiple robots autodispatcher carry out and meanwhile handle, autodispatcher receive the task of distribution with
Afterwards, it may not be necessary to have information exchange with total activation system, you can Task-decomposing for subtask is handled, strengthens machine
Effect of the people in scheduling, reduces information exchange and the traffic, which can increase or delete task in real time, with
Dynamic task is adapted to, improves the adaptability to complex environment and dynamic task.
4th, the exemplary automatic scheduling method of the present invention is decomposed by graded dispatching and task sequence, by a scheduler task
Simultaneously distribute to multiple robots autodispatcher carry out and meanwhile handle, autodispatcher receive the task of distribution with
Afterwards, it may not be necessary to have information exchange with total activation system, you can Task-decomposing for subtask is handled, strengthens machine
Effect of the people in scheduling reduces information exchange and the traffic, realizes the scheduling of chain type dynamic task.
5th, the exemplary equipment of the present invention performs the dispatching method of its preservation by processor, realizes chain type dynamic task
Scheduling, dispatching method is simple, and calculation amount and the traffic are small, is conducive to the processing of complex environment and dynamic task.
6th, the exemplary readable storage medium storing program for executing of the present invention, stores the dispatching method realized when being executed by processor, just
Using and promoting in the scheduling to chain type dynamic task.
Description of the drawings
Fig. 1 is the flow chart of one robot total activation system of embodiment；
Fig. 2 is the flow chart that one robotic end of embodiment dispatches system；
Fig. 3 is the structure diagram of one robot system of embodiment；
Fig. 4 is the structure diagram of one robot total activation system of embodiment；
Fig. 5 is the task subsequence schematic diagram that one robotic end of embodiment dispatches system；
Fig. 6 is one robot system general frame figure of embodiment.
Specific embodiment
In order to be better understood by technical scheme of the present invention, with reference to specific embodiment, Figure of description to the present invention
It is described further.
Embodiment one：
A kind of Automatic dispatching server-side is present embodiments provided, including：
First communication unit is configured to receive scheduling request, and each scheduler task is respectively sent to institute's dispensation machines
The scheduler task is divided into one or more subtasks by the autodispatcher of people for the autodispatcher, is based on
Complete Automatic dispatching in each subtask；The autodispatcher configuration is in robot；
First scheduling unit is configured to the scheduler task sequence for including several scheduler tasks according to scheduling request generation
Row, and respectively each scheduler task dispensation machines people.
First communication unit is also configured to receive the scheduler task of autodispatcher transmission and/or the subtask is held
Row result；And/or
The path that the execution of planning is safeguarded is sent to the autodispatcher of corresponding machine people for the Automatic dispatching
Device completes Automatic dispatching.
First scheduling unit is also configured to be configured the modification information of the scheduler task execution sequence；And/or
Priority ranking is carried out to scheduler task, adjusting the first communication unit according to the priority of the scheduler task issues
Queue is performed to the scheduler task of autodispatcher；And/or
The increase or deletion of task are scheduled to scheduling task sequence；And/or
Robot performance's information with predetermined threshold value is compared, if performance information is less than predetermined threshold value, plans and performs maintenance
Path, such as when the electricity of robot drops to some value after, can with automatic path planning or via dispatching systems organization path,
Charging is gone to go to charge.
Wherein, the scheduler task for autodispatcher being handed down to according to the adjustment of the priority of the scheduler task performs queue
Including：
Current scheduling task is hung up according to scheduler task priority；
Confirm that the priority preferentially issued by the first communication unit is high in rear scheduler task；
It is finished information according in rear scheduler task, activates and formerly hang up scheduler task.
Its corresponding automatic scheduling method of the Automatic dispatching server-side, includes the following steps：
S1, scheduling request is received；
S2, the scheduler task sequence for including several scheduler tasks according to scheduling request generation, and it is respectively each described
Scheduler task dispensation machines people；
S3, each scheduler task is respectively sent to the autodispatcher of institute dispensation machines people for the automatic tune
The scheduler task is divided into several subtasks, and complete Automatic dispatching to each subtask by degree device.
Robot total activation system, that is, Automatic dispatching server-side preserves all task lists 101 to be treated, and (scheduling is appointed
Business sequence), robot total activation system can give task assignment to corresponding certain or a few robots according to actual demand
102, confirm whether robot feeds back 103, it is no, then 104 are waited for, is, then receives the feedback information of robot, and show 105.Its
In, returning the result after robot completion command adapted thereto is waited for, while waiting for, shows the movement feelings of the robot received
Condition, as shown in Figure 1.The autodispatcher of robot receives the task of robot total activation system assignments, resolves to a system
The sequential subtask sequence 201 of row, as shown in Figure 2.
The automatic scheduling method, further includes：
Receive scheduler task and/or the subtask implementing result that the autodispatcher of robot is sent；And/or
The path that the execution of planning is safeguarded is sent to the autodispatcher of corresponding machine people for the Automatic dispatching
Device completes Automatic dispatching；And/or
The modification information of the scheduler task execution sequence is configured；And/or
Priority ranking is carried out to scheduler task, adjusting the first communication unit according to the priority of the scheduler task issues
Queue is performed to the scheduler task of autodispatcher；And/or
The increase or deletion of task are scheduled to scheduling task sequence；And/or
Robot performance's information with predetermined threshold value is compared, if performance information is less than predetermined threshold value, plans and performs maintenance
Path.
Wherein, the scheduler task for autodispatcher being handed down to according to the adjustment of the priority of the scheduler task performs queue
Including：
(1) current scheduling task is hung up according to scheduler task priority；
(2) confirm that the priority preferentially issued by the first communication unit is high in rear scheduler task；
(3) it is finished information according in rear scheduler task, activates and formerly hang up scheduler task.
A kind of autodispatcher is present embodiments provided, is configured in robot, including：
Second communication unit, is configured to receive the scheduler task that automatic dispatch service end is sent, the scheduler task by
Automatic dispatching server-side includes the scheduler task sequence of several scheduler tasks according to the generation of the scheduling request of reception, and is respectively each
The autodispatcher of institute dispensation machines people is sent to after the scheduler task dispensation machines people；
Processing unit is configured to the scheduler task being divided into one or more subtasks, and the subtask is for example right
Cargo, carrying, navigation etc. are connect, it includes a series of target point information；
Execution unit is configured to complete Automatic dispatching to each subtask.
Wherein, there is timing in the subtask, and the subtask can also be without timing.
The corresponding tasks carrying position in the subtask includes loading area, Accreditation Waiting Area, loading dock, empty van area, traffic zone, dimension
Repair area, charging zone one or more task execution areas combination.Several subtasks operation that each task execution area performs is configured.
Processing unit is also configured to plan the subtask execution route,
Execution unit is also configured to complete Automatic dispatching to the subtask along the execution route.
Processing unit is also configured to robot performance's information and is compared with predetermined threshold value, if robot performance's information is less than pre-
If threshold value, then the path for performing and safeguarding is planned.After robot fault, robot in addition can draw it to maintenance area.When
After the electricity of robot drops to some value, charging can be gone to go with automatic path planning or via scheduling systems organization path
It charges.
Processing unit is also configured to adjust the subtask execution queue according to the priority of the subtask.
The subtask is adjusted according to the priority of the subtask and performs queue, including：
Current subtask is hung up according to the priority of subtask；
Confirm that priority is high in rear subtask；
According to the information that is finished in rear subtask, activate and formerly hang up subtask.
Second communication unit is also configured to send the subtask implementing result；And/or
Receive the subtask sequence of requests；And/or
It is sent to current subtask and stops or hang up information；And/or
The order begun a task with sent to the subtask sequence of the request；And/or
The associated instruction set for sending the subtask starts information；And/or
Distribution of machine people's performance information, so that Automatic dispatching server-side is when performance information is less than predetermined threshold value, planning is held
The path that row is safeguarded.
Processing unit is also configured to adjust the time interval between the subtask.
The corresponding automatic scheduling method of autodispatcher, includes the following steps：
S1, the scheduler task that automatic dispatch service end is sent is received, the scheduler task is by the Automatic dispatching server-side
Include the scheduler task sequence of several scheduler tasks, and respectively each scheduler task point according to the generation of the scheduling request of reception
With the autodispatcher that institute dispensation machines people is sent to after robot, there is timing in the subtask or without timing；
S2, the scheduler task is divided into one or more subtasks；
S3, Automatic dispatching is completed to each subtask.
The corresponding tasks carrying position in the subtask includes loading area, Accreditation Waiting Area, loading dock, empty van area, traffic zone, dimension
Repair area, charging zone one or more task execution areas combination.Several subtasks operation that each task execution area performs is configured.
The automatic scheduling method, further includes：
Plan the subtask execution route；And/or
Automatic dispatching is completed to the subtask along the execution route；And/or
Send the subtask implementing result；And/or
Receive the subtask sequence of requests；And/or
It is sent to current subtask and stops or hang up information；And/or
The order begun a task with sent to the subtask sequence of the request；And/or
The associated instruction set for sending the subtask starts information；And/or
Adjust between the subtask time interval (each subtask function have modularization, can realize independent
Function, the time interval between each subtask can be adjusted)；And/or
Robot performance's information is compared with predetermined threshold value, if robot performance's information is less than predetermined threshold value, planning is held
The path that row is safeguarded；And/or
Distribution of machine people's performance information, so that Automatic dispatching server-side is when performance information is less than predetermined threshold value, planning is held
The path that row is safeguarded；And/or
And/or
Adjust the time interval between the subtask；And/or
The subtask is adjusted according to the priority of the subtask and performs queue.
The subtask is adjusted according to the priority of the subtask and performs queue, including：
Current subtask is hung up according to the priority of subtask；
Confirm that priority is high in rear subtask；
According to the information that is finished in rear subtask, activate and formerly hang up subtask.
The autodispatcher of robot receives the task of robot total activation system assignments, when resolving to a series of
Sequence subtask sequence 201, robotic end scheduling system receive after the sequence of requests of subtask sent to current task stop or
Message on hold 202, after the feedback message of stopping is received, subtask sequence transmission of the scheduler program successively to request starts
The order of task, and start the associated instruction set 204 of subtask.Instruction of the robot in instruction set carry out path planning,
Navigation performs relevant action 205, and the subtask sequence of task is finished, and robot feeds back to the task message of execution always
Then scheduling system 206 activates being suspended for task, wait for next task application 207, as shown in Figure 2.
Present embodiments provide a kind of robot system, including as above any one of them Automatic dispatching server-side and,
Several as above any one of them autodispatchers, as shown in Figure 3.
Following citings illustrate the system：
Automatic dispatching server-side, that is, robot total activation system preserves all task lists 401 to be treated, task row
Table 401 is the list being made of 4a task Isosorbide-5-Nitrae b tasks 2, a series of tasks such as 4c tasks 3 ... ... and 4d tasks n.Robot is total
Task 1 can be distributed to Isosorbide-5-Nitrae e robots of robot 1 by scheduling system 402 can feed back task action result to scheduling system 402.Its
His task can distribute to corresponding robot via identical method, as shown in Figure 4.
After robotic end 501 receives the task 502 of total activation system distribution, which can be resolved to a series of
The subtask list with timing：5a subtasks 1,5b subtasks 2,5c, 5d subtasks n.The scheduling system of robotic end
503 i.e. autodispatcher, can open above-mentioned subtask sequence successively.Such as, then first dispatch robot does certain to somewhere
Thing does something again after finishing, then perform other subtask etc. again, as shown in Figure 5.
The tasks carrying position of subtask described in the system is broadly divided into loading area 601, Accreditation Waiting Area 602, loading dock 603,
Empty van area 604, the regions such as traffic zone 605, maintenance area and charging zone.
System is scheduled navigation according to task, and each task can be made of a series of navigation target point, airborne carrier
Device people can back and forth cruise between multiple target points, when reaching different target points, set different operations to robot and appoint
Business.
In no task, carrying robot is awaited orders in Accreditation Waiting Area, when the chest of the 6A positions in sorting line will expire
When, the 6W robots in Accreditation Waiting Area receive the order for loading chest, can run at 6A, pull-up package bin, through path navigation
A608 to loading dock 6C after discharged, can reach empty van area 6D, lift empty chest, reach and wait for through guidance path a608
Area 6E points.
As the carrying robot 6H of Accreditation Waiting Area, the 6F points for receiving loading area need to configure the empty van period of the day from 11 p.m. to 1 a.m, carrying robot
The 6F points that empty van reaches loading area through path navigation b 609 can be carried, after empty van is unloaded, 611 pathway of carrying robot
Diameter navigation b609 returns to waiting for area and awaits orders, as shown in Figure 6.
Wherein, robot and one kind that the connection mode carried between babinet is absorption type, pull-alongs, jacking type.
After robot fault, robot in addition can draw it to maintenance area.
After the electricity of robot drops to some value, can with automatic path planning or via scheduling systems organization path,
Charging is gone to go to charge.
A kind of equipment is present embodiments provided, the equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are performed by one or more of processors so that one or more of places
It manages device and performs as above any one of them method.
A kind of computer readable storage medium for being stored with computer program is present embodiments provided, the program is by processor
As above any one of them method is realized during execution.
Robot delivery of the present embodiment suitable for logistics and storage field, is also applied for such as security protection, services other
Use the other field of similar machine people's scheduling feature.
Embodiment two
The present embodiment feature identical with embodiment one repeats no more, and the present embodiment feature different from embodiment one exists
In：
There are timing or the subtask in the subtask without timing.
Embodiment three
The present embodiment feature identical with embodiment one repeats no more, and the present embodiment feature different from embodiment one exists
In：
The subtask is without timing.
The preferred embodiment and the explanation to institute's application technology principle that above description is only the application.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology that the specific combination of above-mentioned technical characteristic forms
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
The other technical solutions for arbitrarily combining and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
Energy.
Claims (28)
1. a kind of Automatic dispatching server-side, it is characterized in that, including：
First communication unit is configured to receive scheduling request, and each scheduler task is respectively sent to institute dispensation machines people's
The scheduler task is divided into one or more subtasks by autodispatcher for the autodispatcher, based on each institute
It states subtask and completes Automatic dispatching；
First scheduling unit is configured to the scheduler task sequence for including several scheduler tasks according to scheduling request generation,
And respectively each scheduler task dispensation machines people.
2. Automatic dispatching server-side according to claim 1, it is characterized in that, the first communication unit be also configured to received from
The scheduler task and/or the subtask implementing result that dynamic dispatching device is sent；And/or
The path that the execution of planning is safeguarded is sent to the autodispatcher of corresponding machine people for the autodispatcher
Complete Automatic dispatching.
3. Automatic dispatching server-side according to claim 1 or 2, it is characterized in that, the first scheduling unit is also configured to match
Put the modification information of the scheduler task execution sequence；And/or
Priority ranking is carried out to scheduler task, adjusting the first communication unit according to the priority of the scheduler task is handed down to certainly
The scheduler task of dynamic dispatching device performs queue；And/or
The increase or deletion of task are scheduled to scheduling task sequence；And/or
Robot performance's information with predetermined threshold value is compared, if performance information is less than predetermined threshold value, plans the road for performing and safeguarding
Diameter.
4. Automatic dispatching server-side according to claim 3, it is characterized in that, it is adjusted according to the priority of the scheduler task
The scheduler task execution queue for being handed down to autodispatcher includes：
Current scheduling task is hung up according to scheduler task priority；
Confirm that the priority preferentially issued by the first communication unit is high in rear scheduler task；
It is finished information according in rear scheduler task, activates and formerly hang up scheduler task.
5. a kind of autodispatcher, is configured in robot, which is characterized in that including：
Second communication unit is configured to receive the scheduler task that automatic dispatch service end is sent, and the scheduler task is by automatic
Dispatch service end includes the scheduler task sequence of several scheduler tasks according to the generation of the scheduling request of reception, and respectively each described
The autodispatcher of institute dispensation machines people is sent to after scheduler task dispensation machines people；
Processing unit is configured to the scheduler task being divided into one or more subtasks；
Execution unit is configured to complete Automatic dispatching to each subtask.
6. autodispatcher according to claim 5, which is characterized in that there is timing in the subtask.
7. autodispatcher according to claim 5, which is characterized in that the subtask is without timing.
8. autodispatcher according to claim 5, which is characterized in that the corresponding tasks carrying position in the subtask
Including loading area, Accreditation Waiting Area, loading dock, empty van area, traffic zone, maintenance area, charging zone one or more task execution areas
Combination.
9. autodispatcher according to claim 8, which is characterized in that several sons that each task execution area performs are configured
Task operating.
10. autodispatcher according to claim 5, which is characterized in that
Processing unit is also configured to plan the subtask execution route,
Execution unit is also configured to complete Automatic dispatching to the subtask along the execution route.
11. autodispatcher according to claim 5, which is characterized in that processing unit is also configured to machine human nature
Energy information is compared with predetermined threshold value, if robot performance's information is less than predetermined threshold value, plans the path for performing and safeguarding；And/or
Adjust the time interval between the subtask；And/or
The subtask is adjusted according to the priority of the subtask and performs queue.
12. autodispatcher according to claim 5, which is characterized in that adjusted according to the priority of the subtask
The subtask performs queue, including：
Current subtask is hung up according to the priority of subtask；
Confirm that priority is high in rear subtask；
According to the information that is finished in rear subtask, activate and formerly hang up subtask.
13. according to any autodispatchers of claim 5-12, which is characterized in that the second communication unit also configures use
In the transmission subtask implementing result；And/or
Receive the subtask sequence of requests；And/or
It is sent to current subtask and stops or hang up information；And/or
The order begun a task with sent to the subtask sequence of the request；And/or
The associated instruction set for sending the subtask starts information；And/or
Distribution of machine people's performance information, so that Automatic dispatching server-side is when performance information is less than predetermined threshold value, planning performs dimension
The path of shield.
14. a kind of robot system, including such as claim 1-4 any one of them Automatic dispatching server-side and, several
Such as claim 5-13 any one of them autodispatchers.
15. robot system according to claim 14, robot and the connection mode carried between babinet be absorption type,
One kind of pull-alongs, jacking type.
16. a kind of automatic scheduling method, which is characterized in that include the following steps：
Receive scheduling request；
Include the scheduler task sequence of several scheduler tasks, and respectively each scheduler task according to scheduling request generation
The scheduler task can be divided into several subtasks by distribution, and the robot of Automatic dispatching is completed to each subtask.
17. automatic scheduling method according to claim 16, which is characterized in that further include：
Receive scheduler task and/or the subtask implementing result that the autodispatcher of robot is sent；And/or
The path that the execution of planning is safeguarded is sent to the autodispatcher of corresponding machine people for the autodispatcher
Complete Automatic dispatching.
18. automatic scheduling method according to claim 16, it is characterized in that, it further includes：
The modification information of the scheduler task execution sequence is configured；And/or
Priority ranking is carried out to scheduler task, adjusting the first communication unit according to the priority of the scheduler task is handed down to certainly
The scheduler task of dynamic dispatching device performs queue；And/or
The increase or deletion of task are scheduled to scheduling task sequence；And/or
Robot performance's information with predetermined threshold value is compared, if performance information is less than predetermined threshold value, plans the road for performing and safeguarding
Diameter.
19. automatic scheduling method according to claim 18, it is characterized in that, it is adjusted according to the priority of the scheduler task
The scheduler task execution queue for being handed down to autodispatcher includes：
Current scheduling task is hung up according to scheduler task priority；
Confirm that the priority preferentially issued by the first communication unit is high in rear scheduler task；
It is finished information according in rear scheduler task, activates and formerly hang up scheduler task.
20. a kind of automatic scheduling method, which is characterized in that include the following steps：
The scheduler task that automatic dispatch service end is sent is received, the scheduler task is by the Automatic dispatching server-side according to reception
Scheduling request generation include the scheduler task sequences of several scheduler tasks, and respectively each scheduler task dispensation machines people
It is sent to the autodispatcher of institute dispensation machines people afterwards；
The scheduler task is divided into one or more subtasks；
Automatic dispatching is completed to each subtask.
21. automatic scheduling method according to claim 20, which is characterized in that there is timing in the subtask.
22. automatic scheduling method according to claim 20, which is characterized in that the subtask is without timing.
23. automatic scheduling method according to claim 20, which is characterized in that the corresponding tasks carrying position in the subtask
Put including loading area, Accreditation Waiting Area, loading dock, empty van area, traffic zone, maintenance area, charging zone one or more task execution areas
Combination.
24. automatic scheduling method according to claim 23, which is characterized in that further include：
Several subtasks operation that each task execution area performs is configured.
25. according to any automatic scheduling methods of claim 20-24, which is characterized in that further include：
Plan the subtask execution route；And/or
Automatic dispatching is completed to the subtask along the execution route；And/or
Send the subtask implementing result；And/or
Receive the subtask sequence of requests；And/or
It is sent to current subtask and stops or hang up information；And/or
The order begun a task with sent to the subtask sequence of the request；And/or
The associated instruction set for sending the subtask starts information；And/or
Adjust the time interval between the subtask；And/or
Robot performance's information with predetermined threshold value is compared, if robot performance's information is less than predetermined threshold value, plans and performs dimension
The path of shield；And/or
Distribution of machine people's performance information, so that Automatic dispatching server-side is when performance information is less than predetermined threshold value, planning performs dimension
The path of shield；And/or
The subtask is adjusted according to the priority of the subtask and performs queue.
26. automatic scheduling method according to claim 25, which is characterized in that adjusted according to the priority of the subtask
The subtask performs queue, including：
Current subtask is hung up according to the priority of subtask；
Confirm that priority is high in rear subtask；
According to the information that is finished in rear subtask, activate and formerly hang up subtask.
27. a kind of equipment, it is characterized in that, the equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are performed by one or more of processors so that one or more of processors
Perform the method as described in any one of claim 16-19 or claim 20-26.
28. a kind of computer readable storage medium for being stored with computer program, it is characterized in that, when which is executed by processor
Realize the method as described in any one of claim 16-19 or claim 20-26.
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