CN109087027B - Loop type meal delivery path scheduling method and device, background server and storage medium - Google Patents
Loop type meal delivery path scheduling method and device, background server and storage medium Download PDFInfo
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- CN109087027B CN109087027B CN201810996341.7A CN201810996341A CN109087027B CN 109087027 B CN109087027 B CN 109087027B CN 201810996341 A CN201810996341 A CN 201810996341A CN 109087027 B CN109087027 B CN 109087027B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06311—Scheduling, planning or task assignment for a person or group
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/12—Hotels or restaurants
Abstract
The invention relates to the technical field of robots, and provides a loop type food delivery path scheduling method, a loop type food delivery path scheduling device, a background server and a storage medium, wherein the method comprises the following steps: determining a first target food serving point from a plurality of food serving points surrounding a target dining table according to a preset rule; searching a first food delivery path from the loading point to a first target food delivery point in a restaurant map, and sending the first food delivery path to the first food delivery robot so that the first food delivery robot moves to the first target food delivery point according to the first food delivery path; responding to arrival information which is sent by the first food delivery robot and arrives at the first target food delivery point, and marking the use state of the first target food delivery point stored by the background server as occupied; and updating the current food delivery path of the second food delivery robot according to the use state of the first target food delivery point. According to the invention, a plurality of food delivery points are arranged for each dining table, and the loop type path unified scheduling is carried out on a plurality of food delivery robots, so that the food delivery efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a loop type meal delivery path scheduling method and device, a background server and a storage medium.
Background
In the catering industry, the emerging catering robot attracts much people's eyes, and a new type of robot restaurant is opened in many places. In order to improve the meal delivery efficiency, a plurality of meal delivery robots often work simultaneously in a restaurant, but the plurality of meal delivery robots are easy to cause the problems of mutual blocking after meeting and the like.
Disclosure of Invention
The invention aims to provide a method and a device for scheduling a loop-type food delivery path, a background server and a storage medium.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a loop-type food delivery path scheduling method, which is applied to a background server, where the background server is in communication connection with both a first food delivery robot and a second food delivery robot, a restaurant map is stored in the background server in advance, the restaurant map is planned with loading points and a plurality of food delivery points surrounding each dining table in advance, and the background server stores usage states of the plurality of food delivery points in advance, where the method includes: determining a first target food serving point from a plurality of food serving points surrounding a preset target dining table according to a preset rule; searching a first meal delivery path from the loading point to a first target meal delivery point in a restaurant map, and sending the first meal delivery path to a first meal delivery robot so that the first meal delivery robot moves to the first target meal delivery point according to the first meal delivery path; responding to arrival information which is sent by the first food delivery robot and arrives at the first target food delivery point, and marking the use state of the first target food delivery point stored by the background server as occupied; and updating the current food delivery path of the second food delivery robot according to the use state of the first target food delivery point.
In a second aspect, an embodiment of the present invention further provides a loop type meal delivery path scheduling apparatus, which is applied to a background server, where the background server is in communication connection with both the first meal delivery robot and the second meal delivery robot, a restaurant map is stored in the background server in advance, the restaurant map is planned with loading points and a plurality of meal delivery points surrounding each dining table in advance, and the background server stores usage states of the plurality of meal delivery points in advance, and the apparatus includes a determining module, a searching module, a response module, and an updating module. The determining module is used for determining a first target food serving point from a plurality of food serving points surrounding a preset target dining table according to a preset rule; the searching module is used for searching a first food delivery path from the loading point to a first target food delivery point in the restaurant map and sending the first food delivery path to the first food delivery robot so that the first food delivery robot moves to the first target food delivery point according to the first food delivery path; the response module is used for responding to arrival information which is sent by the first food delivery robot and arrives at the first target food delivery point, and marking the use state of the first target food delivery point stored by the background server as occupied; the updating module is used for updating the current food delivery path of the second food delivery robot according to the using state of the first target food delivery point.
In a third aspect, an embodiment of the present invention further provides a background server, where the background server includes: one or more processors; a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the looped meal path scheduling method described above.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the above-mentioned loop-type meal delivery path scheduling method.
Compared with the prior art, the embodiment of the invention provides a loop type food delivery path scheduling method, a loop type food delivery path scheduling device, a background server and a storage medium, wherein the background server is in communication connection with a first food delivery robot and a second food delivery robot, a restaurant map is stored in the background server in advance, a loading point and a plurality of food delivery points surrounding each dining table are planned in advance on the restaurant map, and the background server stores the using states of the plurality of food delivery points in advance; then, searching a first food delivery path from the loading point to a first target food delivery point in a restaurant map, and sending the first food delivery path to the first food delivery robot so that the first food delivery robot moves to the first target food delivery point according to the first food delivery path; next, when the first food delivery robot reaches the first target food delivery point, sending arrival information to a background server, and enabling the background server to respond to the arrival information to mark the use state of the first target food delivery point stored by the background server as occupied; and finally, the background server side updates the current food delivery path of the second food delivery robot according to the use state of the first target food delivery point. Compared with the prior art, the food delivery path is planned to be the loop path, the food delivery points are arranged for each dining table, and the background server is used for uniformly scheduling the paths for the food delivery robots, so that the food delivery efficiency is improved, and the problem of 'loop deadlock' of the food delivery robots when the space of a dining room is small or a food delivery task is busy is solved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a scene schematic diagram illustrating a method for scheduling a loop-type meal delivery path according to an embodiment of the present invention.
Fig. 2 is a block diagram illustrating a background server according to an embodiment of the present invention.
Fig. 3 is a flowchart illustrating a method for scheduling a circular meal delivery path according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating sub-steps of step S101 shown in fig. 3.
Fig. 5 illustrates an exemplary restaurant path diagram in an embodiment of the present invention.
Fig. 6 is a flowchart illustrating sub-steps of step S104 shown in fig. 3.
Fig. 7 is a block diagram illustrating a circular meal delivery path scheduling apparatus according to an embodiment of the present invention.
Icon: 100-background server side; 101-a memory; 102-a memory controller; 103-a processor; 200-loop type meal delivery path scheduling device; 201-a determination module; 202-a search module; 203-response module; 204-a first update module; 205-a return module; 206-a second update module; 300-a first food delivery robot; 400-second meal delivery robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a scene schematic diagram illustrating a method for scheduling a loop-type meal delivery path according to an embodiment of the present invention. The background server 100 is in communication connection with the first food delivery robot 300 and the plurality of second food delivery robots 400, the background server 100 determines a first target food delivery point according to a preset target dining table and generates a first food delivery path from the loaded point to the first target food delivery point, the background server 100 sends the first food delivery path to the first food delivery robot 300 so that the first food delivery robot 300 moves to the first target food delivery point according to the first food delivery path, the background server 100 responds to an arrival request sent by the first food delivery robot 300 to reach the first target food delivery point, marks the usage state of the first target food delivery point as occupied, and then updates the current food delivery path of the second food delivery robot 400 according to the usage state of the first target food delivery point.
Referring to fig. 2, fig. 2 is a block diagram illustrating a background server 100 according to an embodiment of the present invention. The backend server 100 may be, but is not limited to, a Personal Computer (PC), a server, and the like. The operating system of the backend server 100 may be, but is not limited to, a Windows system, a Linux system, and the like. The background server 100 includes a loop-type meal delivery path scheduling device 200, a memory 101, a memory controller 102 and a processor 103.
The memory 101, memory controller 102, and processor 103 are electrically connected to each other directly or indirectly to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The circular meal delivery path scheduler 200 includes at least one software function module which can be stored in the memory 101 in the form of software or firmware (firmware) or solidified in the Operating System (OS) of the backend server 100. The processor 103 is used for executing executable modules stored in the memory 101, such as software functional modules and computer programs included in the loop meal delivery path scheduling device 200.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 101 is configured to store a program, and the processor 103 executes the program after receiving the execution instruction.
The processor 103 may be an integrated circuit chip having signal processing capabilities. The Processor 103 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), a voice Processor, a video Processor, and the like; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor 103 may be any conventional processor or the like.
First embodiment
Referring to fig. 3, fig. 3 is a flowchart illustrating a method for scheduling a loop-type meal delivery path according to an embodiment of the present invention. The background server 100 stores a restaurant map in advance, the restaurant map is planned with a loading point and a plurality of food delivery points surrounding each dining table in advance, and the background server 100 stores the use states of the plurality of food delivery points in advance, wherein in the embodiment of the invention, the loading point is a point where the first food delivery robot 300 loads the food delivery points, and is also a starting point of the first food delivery robot 300, and the loading point and the plurality of food delivery points are connected in sequence to form a plurality of loop paths. Any two loop paths are connected through a connection point, that is, the connection point is on any two loop paths at the same time, and can move between any two loop paths through the connection point, and according to the meal delivery path formed by connecting at least one connection point and at least one meal delivery point, the first meal delivery robot 300 and the second meal delivery robot 400 can move to the corresponding meal delivery points to complete meal delivery tasks.
It should be noted that the loop path is not necessarily a circular loop path, and all paths that can form a loop or can become a loop may be referred to as loop paths, for example, the loop path may be a closed path, any two closed paths are connected by a connection point, and the loop path may move between any two closed paths through the connection point, or the loop path may be not closed, and at least two paths exist from the same connection point to reach the same meal delivery point on the loop path.
The loop type meal delivery path scheduling method comprises the following steps:
step S101, determining a first target food serving point from a plurality of food serving points surrounding a preset target dining table according to a preset rule.
In the embodiment of the present invention, the target dining table is preset by the user through the backend server 100, the backend server 100 first obtains the usage states of the multiple food delivery points of the target dining table, and selects the food delivery point with the shortest path to the first food delivery robot 300 from the multiple food delivery points with the idle usage states as the first target food delivery point, that is, the first target food delivery point is the food delivery point with the idle usage state and the shortest path to the first food delivery robot 300.
In the embodiment of the present invention, the multiple food delivery points may be a first target food delivery point of the first food delivery robot 300 or a second target food delivery point of the second food delivery robot 400, or the first food delivery robot 300 may go to a place where the first target food delivery point or the second food delivery robot 400 goes to a route of the second target food delivery point, and the same target dining table plans multiple food delivery points, so that the food delivery robot serving the target dining table may be multiple food delivery robots, and the food delivery efficiency is improved.
Referring to fig. 4, step S101 may further include the following sub-steps:
in sub-step S1011, the usage states of the plurality of service points of the target dining table are obtained, and at least one service point with the usage state being idle is determined as the initial service point.
In the embodiment of the present invention, the usage status of the meal delivery point includes three types of predetermined, occupied and idle states, when the usage status of the meal delivery point is predetermined, it represents that the meal delivery point has been set as the target meal delivery point but the first meal delivery robot 300 or the second meal delivery robot 400 has not reached the target meal delivery point, when the usage status of the meal delivery point is occupied, it represents that the first meal delivery robot 300 or the second meal delivery robot 400 is parked at the meal delivery point, when the usage status of the meal delivery point is idle, it represents that the first meal delivery robot 300 does not exist and any one of the second meal delivery robot 400 is parked at the meal delivery point and is not set as the target meal delivery point, for example, when the background service end 100 receives a message sent by the first meal delivery robot 300 to reach the meal delivery point a, the usage status of the meal delivery point a is marked as occupied, and the usage status of the meal delivery point a is occupied, when receiving the leaving message of leaving the food delivery point a sent by the first food delivery robot 300, the background server 100 marks the use state of the food delivery point a as idle, and at this time, the use state of the food delivery point a is idle.
It should be noted that the usage status of the food serving may be updated in a manner such as, but not limited to, real-time update, periodic update, event-triggered update, etc.
In the embodiment of the present invention, the primary selected food delivery point refers to a food delivery point whose usage state is idle in the target dining table, and there may be one or more primary selected food delivery points, and when there is one primary selected food delivery point, the primary selected food delivery point is the first target food delivery point, and it is no longer necessary to perform sub-steps S1012 and S1013, and when there are more primary selected food delivery points, the first target food delivery point is determined from the plurality of primary selected food delivery points after sub-steps S1012 and S1013 are performed.
Substep S1012, obtaining the current position of the first food delivery robot, and calculating the path length between the current position of the first food delivery robot and the initially selected food delivery point.
In the embodiment of the present invention, the number of the initial food serving in sub-step S1012 is plural, the current position of the first food delivery robot 300 is acquired, and a plurality of path lengths between the current position of the first food delivery robot 300 and the plurality of initial food serving are calculated.
And a substep S1013 of determining the initially selected meal delivery point with the shortest path length as the first target meal delivery point.
Step S102, searching a first food delivery path from the loading point to the first target food delivery point in the restaurant map, and sending the first food delivery path to the first food delivery robot so that the first food delivery robot moves to the first target food delivery point according to the first food delivery path.
In an embodiment of the present invention, the first meal delivery path may include a loading point and a first target meal delivery point, may also include a loading point, at least one meal delivery point other than the first target meal delivery point, at least one connection point and a first target meal delivery point. For example, referring to fig. 5, fig. 5 is a schematic diagram of an exemplary restaurant path in an embodiment of the present invention, in fig. 5, there are a loading point, 6 tables, table 1, table 2, table 3, table 4, table 5, and table 6, where table 1 includes A, B, C serving points, table 2 includes E, F, G serving points, table 3 includes H, I, J serving points, table 4 includes J, K, L serving points, table 5 includes M, N, O serving points, table 6 includes O, P, Q serving points, the loop path of table 1 and the loop path of table 2 are connected by connection point D, the loop path of table 1 and the loop path of table 3 are connected by connection point C, the loop path of table 2 and the loop path of table 4 are connected by connection point F, the ring-shaped path of the dining table 3 and the ring-shaped path of the dining table 4 are connected by a connection point J, the ring-shaped path of the dining table 3 and the ring-shaped path of the dining table 5 are connected by a connection point I, the ring-shaped path of the dining table 5 and the ring-shaped path of the dining table 6 are connected by a connection point O, the ring-shaped path of the dining table 4 and the ring-shaped path of the dining table 6 are connected by a connection point K, the connection point can be coincident with a meal delivery point or not coincident with a meal delivery point, in fig. 5, C, D, F, I, J, K, O is a connection point and is a meal delivery point, when the target dining table is the dining table 1 and the target meal delivery point is G, the first meal delivery path is a path between a loading point and the target meal delivery point G, when the target dining table is the dining table 1 and the target meal delivery point is E, the first meal delivery path is a path in which the loading point, the meal delivery point, when the target meal delivery point is B, the first meal delivery path is a path formed by sequentially connecting the loading point, the meal delivery point G, the meal delivery point E, the connecting point D and the target meal delivery point B.
It should be noted that, when the first food delivery robot 300 does not encounter a situation that the first food delivery path needs to be updated in the process of the first food delivery path, the first food delivery robot 300 moves to the first target food delivery point according to the first food delivery path and finally reaches the first target food delivery point, and when the first food delivery robot 300 encounters a situation that the first food delivery path needs to be updated in the process of the first food delivery path, the first food delivery robot 300 moves to the first target food delivery point according to the updated first food delivery path and finally reaches the first target food delivery point.
And step S103, responding to the arrival message which is sent by the first food delivery robot and arrives at the first target food delivery point, and marking the use state of the first target food delivery point stored by the background server as occupied.
In the embodiment of the present invention, after the first meal delivery robot 300 reaches the first target meal delivery according to the first meal delivery path, a reach message is sent to the background server 100, so that the background server 100 responds to the reach message to mark the usage status of the first target meal delivery as occupied.
And step S104, updating the current food delivery path of the second food delivery robot according to the use state of the first target food delivery point.
In the embodiment of the present invention, after the usage status of the first target meal delivery point is marked as occupied in step S103, in order to eliminate the influence of the occupied status on the movement of the second meal delivery robot 400, it is first determined whether the current meal delivery path of the second meal delivery robot 400 is influenced after the first target meal delivery point is occupied, if so, the second meal delivery path from the current position of the second meal delivery robot 400 to the second target meal delivery point needs to be re-planned, and if not, the second meal delivery path does not need to be re-planned.
Referring to fig. 6, step S104 may further include the following sub-steps:
and a substep S1041 of obtaining a current food delivery path of the second food delivery robot.
And a substep S1042 of generating a second food delivery path from the current position of the second food delivery robot to the second target food delivery point when any one middle navigation point in the current food delivery path is consistent with the first target food delivery point.
In the embodiment of the present invention, the current meal delivery path of the second meal delivery robot 400 includes a start navigation point, i.e. the departure point of the second meal delivery robot 400, at least one intermediate navigation point, which may be at least one connection point, at least one meal delivery point, or at least one connection point and at least one meal delivery point ordered in order of routes, for example, referring to fig. 5, which exemplifies the loading point, the table 1 and the table 2 in fig. 5, wherein the table 1 includes A, B, C meal delivery points, the table 2 includes E, F, G meal delivery points, the loop path of the table 1 and the loop path of the table 2 are connected by a connection point D, when the target table is the table 1 and the target meal delivery point is E, the first meal delivery path is a path in which the loading point, the meal delivery point G and the target meal delivery point are connected in order of E, wherein, the middle navigation point is a food delivery point G, when the target dining table is dining table 2 and the target food delivery point is B, the first food delivery path is a path in which a loading point, a food delivery point G, a food delivery point E, a connection point D, and the target food delivery point B are sequentially connected, wherein the middle navigation point is a food delivery point G, a food delivery point E, a connection point D, and the second target food delivery point is a destination point to which the second food delivery robot 400 will arrive. The second meal delivery path is a meal delivery path from the current position of the second meal delivery robot 400 to the second target meal delivery and not affected by the first target meal delivery. Any one of the intermediate navigation points in the current meal delivery path is consistent with the first target meal delivery point, which represents that the current meal delivery path can approach the first target meal delivery point, but because the first target meal delivery point is already occupied, the current meal delivery path is affected by the first target meal delivery point, and finally the second meal delivery robot 400 cannot reach the second target meal delivery point according to the current meal delivery path, so that a second meal delivery path from the current position of the second meal delivery robot 400 to the second target meal delivery point needs to be generated.
And a substep S1043 of sending the second food delivery path to the second food delivery robot, so that the second food delivery robot updates the current food delivery path of the second food delivery robot according to the second food delivery path.
In the embodiment of the present invention, there may be one or more second meal delivery robots 400, and when there are more second meal delivery robots 400, step S104 and sub-steps S1041 to S1043 need to be performed for each second meal delivery robot 400.
In the embodiment of the present invention, after the first food delivery robot 300 delivers the food to the first target food delivery point, the dinner plate with the meal completed on the target table is placed on the first food delivery robot 300, and in order to enable the first food delivery robot 300 to deliver the dinner plate to the preset place for unloading, the embodiment of the present invention may further include step S105.
And step S105, responding to a food delivery ending request sent by the first food delivery robot, generating a return path from the first target food delivery point to the unloading point, and sending the return path to the first food delivery robot so that the first food delivery robot reaches the unloading point according to the return path.
In the embodiment of the present invention, the restaurant map is also pre-planned with an unloading point, where the unloading point is a place where the first food delivery robot 300 unloads the food tray, and when the first food delivery robot 300 receives an instruction of food delivery completion, the first food delivery robot sends a food delivery completion request to the background server 100, so that the background server 100 generates a return path from the first target food delivery point to the unloading point and sends the return path to the first food delivery robot 300, so that the first food delivery robot 300 reaches the unloading point according to the return path to complete a task of unloading the food tray.
After the first food delivery robot 300 leaves the first target food delivery point, the background server 100 is required to mark the use state of the first target food delivery point as idle, so that the background server 100 can plan a reasonable food delivery route for the second food delivery robot 400, and therefore, as an implementation manner, the implementation method for the first food delivery robot 300 to reach the unloading point according to the return path may further include:
when the first food delivery robot 300 leaves the first target food delivery point, a leave message is sent to the background server 100, so that the background server 100 marks the state of the first target food delivery point as idle.
In the embodiment of the present invention, since when the first food delivery robot 300 and the second food delivery robot 400 move according to the pre-planned food delivery path, the actual moving path may have a certain range of error from the pre-planned food delivery path, when the backend server 100 plans the second food delivery paths for the plurality of second food delivery robots 400, in order to make the second food delivery paths more reasonable, not only the influence of the usage state of the first target food delivery point on the current food delivery path of the second food delivery robot 400 but also the influence between the current food delivery paths of the plurality of second food delivery robots 400 need to be considered, so the embodiment of the present invention may further include step S106.
And step S106, updating the first position, the first path, the second position and the second path according to the current position of the first food delivery robot, the current path of the first food delivery robot, the current position of the second food delivery robot and the current path of the second food delivery robot which are obtained according to a preset period.
In the embodiment of the present invention, the first location and the first path and the second location and the second path are pre-stored in the background server 100 and are updated according to the current location of the first food delivery robot 300, the current path of the first food delivery robot 300, the current location of the second food delivery robot 400, and the current path of the second food delivery robot 400 according to the preset period. When there are a plurality of second food delivery robots 400, the background server 100 stores a second position and a second path corresponding to each second food delivery robot 400, where the preset period is preset, for example, the preset period is set to 10 seconds, that is, every 10 seconds, the background server 100 acquires the current position of the first food delivery robot 300, the current path of the first food delivery robot 300, the current position of the second food delivery robot 400, and the current path of the second food delivery robot 400. When the background server 100 plans the second food delivery path for the second food delivery robot 400 affected by the usage state of the first target food delivery point, the first position and the first path stored in the background server 100 and the second position and the second path of each second food delivery robot 400 are read, and the second food delivery path is planned for the second food delivery robot 400 affected by the usage state of the first target food delivery point according to the first position and the first path and the second position and the second path of each second food delivery robot 400. For example, the restaurant has a first food delivery robot 300 and 2 second food delivery robots 400, one of which is the second food delivery robot 400 No. 1 and the second food delivery robot 400 No. 2, the backend server 100 stores a first position and a first path of the first food delivery robot 300, a second position and a second path of the second food delivery robot 400 No. 1, and a second position and a second path of the second food delivery robot 400 No. 2 in advance, a preset period is 10 seconds, the backend server 100 acquires the current position and the current path of the first food delivery robot 300 and updates the first position and the first path according to the current position and the current path of the first food delivery robot 300 every 10 seconds, and at the same time, the backend server 100 acquires the current position and the current path of the second food delivery robot 400 No. 1 and updates the second position and the second path of the second food delivery robot 400 No. 1 according to the current position and the current path of the second food delivery robot 400 No. 1, and the background server 100 obtains the current position and the current path of the second food delivery robot No. 2, and updates the second position and the second path of the second food delivery robot No. 2 according to the current position and the current path of the second food delivery robot No. 2, wherein the second food delivery robot No. 1 400 is affected by the use state of the first target food delivery point, and when the background server 100 plans the second food delivery path for the second food delivery robot No. 1, the second food delivery path of the second food delivery robot No. 1 is planned according to the first position and the first path read from the first food delivery robot 300, and the second position and the second path of the second food delivery robot No. 2 400, so that the planned second food delivery path does not affect the food delivery of the second food delivery robot No. 2 400.
In the embodiment of the invention, firstly, a first target food delivery point is determined from a plurality of food delivery points surrounding a preset target dining table according to a preset rule, and a plurality of food delivery points are set on the same dining table, so that the first food delivery robot 300 and the second food delivery robot 400 can simultaneously provide food delivery service for the same dining table, and especially when the food delivery task of the same dining table is busy, the service efficiency can be greatly improved. In addition, the plurality of food delivery points can be used as navigation points on the food delivery path under different conditions, so that the first food delivery robot 300 or the second food delivery robot 400 can deliver food to respective purposes or return to an unloading point from respective food delivery points, the first food delivery robot 300 and the plurality of second food delivery robots 400 are not affected by each other in a limited restaurant space, the first food delivery robot 300 and the plurality of second food delivery robots 400 move according to respective food delivery paths, and under the condition of fully utilizing the limited restaurant space, more first food delivery robots 300 and more second food delivery robots 400 are accommodated for food delivery service, and the problem of 'loop deadlock' of the first food delivery robot 300 and the plurality of second food delivery robots 400 is avoided, so that the food delivery service is affected; secondly, searching a first meal delivery path from the loading point to a first target meal delivery point in the restaurant map, and sending the first meal delivery path to the first meal delivery robot 300 so that the first meal delivery robot 300 moves to the first target meal delivery point according to the first meal delivery path; thirdly, in response to an arrival message sent by the first food delivery robot 300 to the first target food delivery point, the usage state of the first target food delivery point stored by the background server 100 is marked as occupied; fourth, the current food delivery path of the second food delivery robot 400 is updated according to the usage state of the first target food delivery point; fifthly, in response to the meal delivery end request sent by the first meal delivery robot 300, generating a return path from the first target meal delivery point to the unloading point, and sending the return path to the first meal delivery robot 300, so that the first meal delivery robot 300 reaches the unloading point according to the return path; the using state of the first target food delivery point is stored and updated in time, so that the background server 100 can judge the influence on the current food delivery path of the second food delivery robot 400 according to the using state in time and replan the second food delivery path for the influenced second food delivery robot 400 according to the influence in time, and the influence of the using state of the first target food delivery point on the current food delivery path of the second food delivery robot 400 is ensured to be minimum; finally, updating the first position, the first path, the second position and the second path according to the current position of the first food delivery robot 300, the current path of the first food delivery robot 300, the current position of the second food delivery robot 400 and the current path of the second food delivery robot 400, which are obtained according to a preset period, considering that when the first food delivery robot 300 and the second food delivery robot 400 move according to the pre-planned food delivery path, the actually moving path may have a certain range of error with the pre-planned food delivery path, in order to make the planned second food delivery path more reasonable, the background server 100 also considers the read first position, the first path, the second position and the second path when planning the second food delivery path, so that the planned second food delivery path does not influence the current food delivery path of the second food delivery robot 400 except for the use state of the first target food delivery point, by considering the current meal delivery paths of the first meal delivery robot 300 and the plurality of second meal delivery robots 400 and scheduling them in a unified manner, not only is meal delivery efficiency improved, but also the problem of 'loop deadlock' occurring when the restaurant space is small or the meal delivery task is busy is avoided.
Second embodiment
Referring to fig. 7, fig. 7 is a block diagram illustrating a circular meal delivery path scheduling apparatus 200 according to an embodiment of the present invention. The loop type meal delivery path scheduling apparatus 200 is applied to the background server 100, and includes a determining module 201; a search module 202; a response module 203; a first update module 204; returning to the module 205; a second update module 206.
The determining module 201 is configured to determine a first target meal delivery point from a plurality of meal delivery points surrounding a preset target table according to a preset rule.
In the embodiment of the present invention, the determining module 201 may be configured to execute step S101 and sub-steps S1011 to S1013 thereof.
The searching module 202 is configured to search a first meal delivery path from the loading point to the first target meal delivery point in the restaurant map, and send the first meal delivery path to the first meal delivery robot, so that the first meal delivery robot moves to the first target meal delivery point according to the first meal delivery path.
In this embodiment of the present invention, the searching module 202 may be configured to execute step S102.
And the response module 203 is used for responding to the arrival message sent by the first meal delivery robot and arriving at the first target meal delivery point, and marking the use state of the first target meal delivery point stored by the background server as occupied.
In this embodiment of the present invention, the response module 203 may be configured to execute step S103.
And the first updating module 204 is used for updating the current meal delivery path of the second meal delivery robot according to the use state of the first target meal delivery point.
In this embodiment of the present invention, the first updating module 204 may be configured to execute step S104 and sub-steps S1041-S1043 thereof.
And a returning module 205, configured to generate a return path from the first target meal delivery point to the unloading point in response to the meal delivery end request sent by the first meal delivery robot, and send the return path to the first meal delivery robot, so that the first meal delivery robot reaches the unloading point according to the return path.
In this embodiment of the present invention, the returning module 205 may be configured to execute step S105.
In this embodiment of the present invention, the returning module 205 may further be configured to send a leave message to the background server when the first meal delivery robot leaves the first target meal delivery point, so that the background server marks the status of the first target meal delivery point as idle.
A second updating module 206, configured to update the first position and the first path and the second position and the second path according to the current position of the first food delivery robot, the current path of the first food delivery robot, the current position of the second food delivery robot, and the current path of the second food delivery robot, which are obtained according to the preset period
In this embodiment of the present invention, the second update module 206 may be configured to execute step S106.
Also disclosed in the embodiments of the present invention is a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by the processor 103, implements the method for scheduling a circular meal delivery path disclosed in the foregoing embodiments of the present invention.
In summary, the present invention provides a method, an apparatus, a background server and a storage medium for scheduling a loop-type meal delivery path, where the method for scheduling a loop-type meal delivery path is applied to the background server, the background server is in communication connection with both a first meal delivery robot and a second meal delivery robot, the background server stores a restaurant map in advance, the restaurant map is planned with a loading point and a plurality of meal delivery points surrounding each dining table in advance, and the background server stores a usage status of each meal delivery point in advance, where the method includes: determining a first target meal delivery point from a plurality of meal delivery points surrounding a target meal table according to a preset rule, wherein the target meal table is preset by the first meal delivery robot; searching a first food delivery path from the loading point to a first target food delivery point in a restaurant map, and sending the first food delivery path to the first food delivery robot so that the first food delivery robot moves to the first target food delivery point according to the first food delivery path; responding to arrival information which is sent by the first food delivery robot and arrives at the first target food delivery point, and marking the use state of the first target food delivery point stored by the background server as occupied; and updating the current food delivery path of the second food delivery robot according to the use state of the first target food delivery point. Compared with the prior art, the food delivery path is planned to be a loop path, a plurality of food delivery points are arranged for each dining table, and the background server is used for uniformly scheduling the paths for the food delivery robots, so that the food delivery efficiency is improved, and the problem of loop deadlock of the food delivery robots when the space of a dining room is small or a food delivery task is busy is solved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (10)
1. The loop type food delivery path scheduling method is applied to a background server side, the background server side is in communication connection with a first food delivery robot and a second food delivery robot, a restaurant map is stored in the background server side in advance, a loading point and a plurality of food delivery points surrounding each dining table are planned in advance on the restaurant map, the dining tables are multiple, any two dining tables are connected through a connection point, and the using states of the food delivery points are stored in the background server side in advance, and the method comprises the following steps:
determining a first target food serving point from a plurality of food serving points surrounding a preset target dining table according to a preset rule;
searching a first meal delivery path from the loading point to the first target meal delivery point in the restaurant map, and sending the first meal delivery path to the first meal delivery robot so that the first meal delivery robot moves to the first target meal delivery point according to the first meal delivery path, wherein the first meal delivery path comprises at least one of the following: a loading point and a first target food delivery point; a loading point, at least one serving point other than the target serving point, a first target serving point; a loading point, at least one serving point other than the target serving point, at least one connection point, a first target serving point;
responding to an arrival message sent by the first food delivery robot and arriving at the first target food delivery point, and marking the use state of the first target food delivery point stored by the background server as occupied;
and updating the current meal delivery path of the second meal delivery robot according to the using state of the first target meal delivery point, wherein the current meal delivery path comprises a starting navigation point, at least one intermediate navigation point and a second target meal delivery point, and the intermediate navigation point comprises at least one connecting point and/or at least one meal delivery point.
2. The method of claim 1, wherein the step of determining a first target meal from the plurality of meals around the preset target table according to the predetermined rule comprises:
obtaining the use states of a plurality of food delivery points of a target dining table, and determining at least one food delivery point with the use state being idle as an initial food delivery point;
acquiring the current position of the first food delivery robot, and calculating the path length between the current position of the first food delivery robot and the initial food delivery point;
and determining the initially selected food delivery point with the shortest path length as a first target food delivery point.
3. The method of claim 1, wherein the step of updating the current meal delivery path of the second meal delivery robot in accordance with the usage status of the first target meal delivery comprises:
acquiring a current food delivery path of the second food delivery robot;
when any one middle navigation point in the current meal delivery path is consistent with the first target meal delivery point, generating a second meal delivery path from the current position of the second meal delivery robot to the second target meal delivery point;
and sending the second food delivery path to the second food delivery robot so that the second food delivery robot updates the current food delivery path of the second food delivery robot according to the second food delivery path.
4. The method of claim 1, wherein the restaurant map is also preplanned with drop-off points, the method further comprising:
and responding to a food delivery ending request sent by the first food delivery robot, generating a return path from the first target food delivery point to the unloading point, and sending the return path to the first food delivery robot so that the first food delivery robot reaches the unloading point according to the return path.
5. The method of claim 4, wherein the step of the first delivery robot following the return path to the unloading point further comprises:
when the first meal delivery robot leaves the first target meal delivery point, a leave message is sent to the background server so that the background server marks the state of the first target meal delivery point as idle.
6. The method of claim 1, wherein the restaurant map is pre-marked with a first location of a first meal delivery robot and a second location of a second meal delivery robot, and wherein the back-office server pre-stores a first path of the first meal delivery robot and a second path of the second meal delivery robot, the method further comprising:
and updating the first position, the first path, the second position and the second path according to the current position of the first food delivery robot, the current path of the first food delivery robot, the current position of the second food delivery robot and the current path of the second food delivery robot which are obtained according to a preset period.
7. The utility model provides a loop type food delivery route scheduling device, its characterized in that is applied to the backstage server, backstage server and first food delivery robot and the equal communication connection of second food delivery robot, backstage server prestore has the dining room map, the dining room map is planned in advance to have a plurality of food delivery points of loading point and encircleing every dining table, the dining table is a plurality of, arbitrary two the dining table passes through the tie point and connects, backstage server prestore has a plurality of service conditions of food delivery point, the device includes:
the determining module is used for determining a first target food serving point from a plurality of food serving points surrounding a preset target dining table according to a preset rule;
a searching module, configured to search a first meal delivery path from the loading point to the first target meal delivery point in the restaurant map, and send the first meal delivery path to the first meal delivery robot, so that the first meal delivery robot moves to the first target meal delivery point according to the first meal delivery path, where the first meal delivery path includes at least one of the following: a loading point and a first target food delivery point; a loading point, at least one serving point other than the target serving point, a first target serving point; a loading point, at least one serving point other than the target serving point, at least one connection point, a first target serving point;
the response module is used for responding to an arrival message which is sent by the first food delivery robot and arrives at the first target food delivery point, and marking the use state of the first target food delivery point stored by the background server as occupied;
and the updating module is used for updating the current food delivery path of the second food delivery robot according to the use state of the first target food delivery point, wherein the current food delivery path comprises a starting navigation point, at least one intermediate navigation point and a second target food delivery point, and the intermediate navigation point comprises at least one connecting point and/or at least one food delivery point.
8. The apparatus of claim 7, wherein the determination module is specifically configured to:
obtaining the use states of a plurality of food delivery points of a target dining table, and determining at least one food delivery point with the use state being idle as an initial food delivery point;
acquiring the current position of the first food delivery robot, and calculating the path length between the current position of the first food delivery robot and the initial food delivery point;
and determining the initially selected food delivery point with the shortest path length as a first target food delivery point.
9. A background server side is characterized in that the background server side is in communication connection with a first food delivery robot and a second food delivery robot, and the background server side comprises:
one or more processors;
memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| CN113050623B (en) * | 2021-02-09 | 2024-03-29 | 上海擎朗智能科技有限公司 | Control method and system of robot, electronic equipment and storage medium |
| CN113691434B (en) * | 2021-08-31 | 2022-09-20 | 深圳云天励飞技术股份有限公司 | Data transmission system, method, electronic device, and storage medium |
| CN114442611A (en) * | 2021-12-28 | 2022-05-06 | 上海擎朗智能科技有限公司 | Meal delivery method of robot, robot and robot system |
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