CN110209166A - Cooperative control method, device and the storage medium of multiple movable type service robots - Google Patents
Cooperative control method, device and the storage medium of multiple movable type service robots Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
This application involves robotic technology fields, provide cooperative control method, device and the storage medium of a kind of multiple mobile service robots.The cooperative control method includes: that server receives the service request for being used to request to send mobile service robot that target control end is sent；Server is inquired in the affiliated subregion in target control end with the presence or absence of the mobile service robot in idle state；If it does not exist, then the service request is stored in corresponding with the affiliated subregion in target control end waiting queue by server；Server every preset time period re-starts division to the coverage, obtains updated multiple subregions；Server is directed to updated each subregion, and the service request that the control terminal for being located at the subregion is sent is added in the corresponding waiting queue of the subregion；Server is directed to each subregion, according to the quantity of service request in the corresponding waiting queue of the subregion, distributes mobile service robot for the subregion.
Description
Technical field
This application involves robotic technology fields, in particular to a kind of collaboration of multiple mobile service robots
Control method, device and storage medium.
Background technique
Currently, mobile service robot system is just gradually applied to family, office or factory floor.Existing shifting
Dynamic formula service robot system generally includes a mobile service robot, such as Mobile garbage bin, mobile water dispenser
Or mobile sweeping robot etc., it further include multiple control terminals, each control terminal can be communicated with mobile sweeping robot.It is more
A control terminal is distributed in coverage, movable type service robot Information Mobile Service in the coverage.Control terminal passes through
Service request is sent to mobile service robot, so that mobile service robot is moved to the control terminal, to obtain movement
The service of formula service robot.
But in existing mobile service robot system, multiple control terminals are only capable of shared one mobile service-delivery machine
People, it is mobile when more than two control terminals in multiple control terminals send service request to mobile service robot simultaneously
Formula service robot cannot sufficiently meet user demand in the state that supply falls short of demand.
Summary of the invention
In view of this, a kind of cooperative control method for being designed to provide multiple mobile service robots of the application,
Device and storage medium, it is intended to solve in the prior art, mobile service robot is generally in the state that supply falls short of demand, cannot
The problem of sufficiently meeting user demand.
In a first aspect, the embodiment of the present application provides a kind of cooperative control method of multiple mobile service robots, answer
For the server in cooperative control system, the cooperative control system includes the server, multiple control terminals and multiple
Mobile service robot, the multiple control terminal are distributed in coverage, and the multiple movable type service robot is in institute
Information Mobile Service in coverage is stated, the coverage includes the multiple subregions divided in advance；The described method includes:
Server receives the service request for being used to request to send mobile service robot that target control end is sent, described
Target control end is any control terminal in the multiple control terminal；
Server is inquired in the affiliated subregion in target control end with the presence or absence of the mobile service in idle state
Robot；
If being taken in the affiliated subregion in target control end there is no the mobile service robot in idle state
The service request is stored in waiting queue corresponding with the affiliated subregion in target control end by business device；
Server every preset time period obtains in the corresponding waiting queue of each subregion in the multiple subregion
Service request, according to the position for the control terminal for sending each service request in whole service requests obtained, to the service
Region re-starts division, obtains updated multiple subregions；
Server sends the control terminal for being located at the subregion for each subregion in updated multiple subregions
Service request be added in the corresponding waiting queue of the subregion；
Server is for each subregion in updated multiple subregions, according to the corresponding waiting queue of the subregion
The quantity of middle service request distributes mobile service robot for the subregion.
Optionally, the method also includes:
If there is the mobile service robot for being in idle state in the affiliated subregion in target control end, service
Device sends at least one of the mobile service robot in idle state in the affiliated subregion in target control end
The target control end is given, and the state of the mobile service robot being sent is updated to occupied state by idle state.
Optionally, server is in the position according to the control terminal for sending each service request in whole service requests obtained
It sets, before re-starting division to the coverage, the method also includes:
Server determines the supply and demand ratio of the subregion, the subregion for each subregion in the multiple subregion
Supply and demand ratio be the subregion in mobile service robot quantity waiting queue corresponding with the subregion in service ask
The ratio of number asked；
Server is according to the position of the control terminal for sending each service request in whole service requests obtained, to described
Coverage re-starts division, comprising:
Server is ranked up the respective supply and demand ratio of the multiple subregion, maximum supply and demand ratio and minimum supply and demand ratio it
Between ratio be greater than preset threshold in the case where, according to the control for sending each service request in whole service requests obtained
The position at end re-starts division to the coverage.
Optionally, the mobile service robot of each of the multiple mobile service robot all has unique the
One mark, the method also includes:
Server receives the release for discharging mobile service robot and requests, and the release request includes target mark
Know, the target identification is the corresponding first identifier of mobile service robot that request is released；
Server determines the corresponding mobile service-delivery machine of target identification described in the multiple mobile service robot
Artificial target movable type service robot, and inquire the corresponding target of the affiliated subregion of target movable type service robot etc.
Wait whether queue includes service request；
If the target waiting queue includes service request, server sends the target movable type service robot
To the corresponding control terminal of a service request in target waiting queue；
If target waiting queue does not include service request, server is by the target movable type service robot
State is updated to idle state by occupied state.
Optionally, if target waiting queue includes service request, server is by the target movable type server
Device people sends to the corresponding control terminal of a service request in target waiting queue, comprising:
If the target waiting queue includes service request, server determination from target waiting queue connects earliest
The service request received；
Server sends the target movable type service robot to the corresponding control of received service request earliest
End processed.
Optionally, if target waiting queue includes service request, server is by the target movable type server
Device people sends to the corresponding control terminal of a service request in target waiting queue, comprising:
If the target waiting queue includes service request, server obtains the target movable type service robot
Position, and obtain the position that the control terminal of each service request is sent in the target waiting queue；
Server is each according to sending in the position of the target movable type service robot and target waiting queue
The position of the control terminal of service request determines and sends often in the target movable type service robot and target waiting queue
The distance between the control terminal of a service request；
Server, which sends the target movable type service robot, gives the target movable type service robot distance
Nearest control terminal.
Optionally, the service request includes to send the second identifier of the control terminal of the service request, and server inquires institute
It states in the affiliated subregion in target control end with the presence or absence of the mobile service robot in idle state, comprising:
Server is determined from the coverage electronic map prestored and is sent according to the second identifier in the service request
The position of the control terminal of the service request；
In subregion belonging to the position for the control terminal that server inquiry sends the service request, if exist in idle
The mobile service robot of state.
Second aspect, the embodiment of the present application also provides a kind of Collaborative Control device of multiple mobile service robots,
Applied to the server in cooperative control system, the cooperative control system includes the server, multiple control terminals and more
A movable type service robot, the multiple control terminal are distributed in coverage, and the multiple movable type service robot exists
Information Mobile Service in the coverage, the coverage include the multiple subregions divided in advance；Described device includes:
Receiving module, for receive the transmission of target control end for requesting the service for sending mobile service robot to be asked
It asks, the target control end is any control terminal in the multiple control terminal；
Enquiry module, for inquiring in the affiliated subregion in target control end with the presence or absence of the movement in idle state
Formula service robot；
It is stored in module, if there is no the mobile servers in idle state in the affiliated subregion in target control end
Device people, for the service request to be stored in waiting queue corresponding with the affiliated subregion in target control end；
Division module is used for every preset time period, obtains the corresponding waiting of each subregion in the multiple subregion
Service request in queue is right according to the position for the control terminal for sending each service request in whole service requests obtained
The coverage re-starts division, obtains updated multiple subregions；
Adding module, for the control of the subregion will to be located at for each subregion in updated multiple subregions
The service request that end processed is sent is added in the corresponding waiting queue of the subregion；And
Distribution module, each subregion for being directed in updated multiple subregions are corresponding according to the subregion
The quantity of service request in queue is waited, distributes mobile service robot for the subregion.
Optionally, described device further include:
Module is sent, if there is the mobile service-delivery machine for being in idle state in the affiliated subregion in target control end
People, for by least one of the mobile service robot in idle state in the affiliated subregion in target control end
It sends and gives the target control end, and the state of the mobile service robot being sent is updated to occupy shape by idle state
State.
The third aspect, the embodiment of the present application also provides a kind of storage mediums, are stored thereon with computer program, the program
The step in the method for any description above is realized when being executed by processor.
Compared with prior art, the application has the advantages that
Method provided by the present application is applied to the server in cooperative control system, and the cooperative control system includes described
Server, multiple control terminals and multiple mobile service robots, the multiple control terminal is distributed in coverage, described
Multiple movable type service robot Information Mobile Services in the coverage, the coverage includes the multiple sons divided in advance
Region.
On the one hand, after the service request that target control end is sent being received due to server, the target control end can be inquired
With the presence or absence of the mobile service robot in idle state in affiliated subregion, if it does not exist, then by the service request
It is stored in waiting queue corresponding with the affiliated subregion in target control end；It is achieved that server is in face of multiple control terminals
Orderly control when service request, to multiple mobile service robots.Again due to including multiple shiftings in cooperative control system
Dynamic formula service robot, multiple movable type service robots can be multiple control terminals under the Collaborative Control of server simultaneously
Service is provided, therefore can solve mobile service robot in the prior art and be generally in the state that supply falls short of demand, it cannot be abundant
The problem of meeting user demand.
It on the other hand, can be at target control end since server is after the service request for receiving the transmission of target control end
Mobile service robot is selected in affiliated subregion, and sends and gives the control terminal, due to the mobile service-delivery machine being sent
People and the control terminal are located in same subregion, therefore not only can effectively control mobile service robot and rush for control terminal
Distance improves efficiency of service；And can also prevent the mobile service robot in entire coverage from excessively concentrating, cause pair
Each control terminal service is unbalanced to be happened.
In another aspect, due to server can also every preset time period, sent according in whole service requests obtained
The position of the control terminal of each service request re-starts division to the coverage, and to updated multiple subregions
In each subregion distribute mobile service robot.It is achieved that continuing the recent demand for services according to each control terminal
Density, the adjustment to sub-zone dividing make entire coordinated control system always meet the demand for services recent developments of each control terminal.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below by institute in the description to the embodiment of the present application
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the application
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the process signal of the cooperative control method for multiple mobile service robots that one embodiment of the application proposes
Figure；
Fig. 2 (a) is the subregion distribution schematic diagram before the coverage that one embodiment of the application proposes is repartitioned；
Fig. 2 (b) is the subregion distribution schematic diagram after the coverage that one embodiment of the application proposes is repartitioned；
Fig. 3 is the structural frames of the Collaborative Control device for multiple mobile service robots that one embodiment of the application proposes
Figure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on this Shen
Please in embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall in the protection scope of this application.
It is the cooperative control method for multiple mobile service robots that one embodiment of the application proposes with reference to Fig. 1, Fig. 1
Flow diagram.This method is applied to the server in cooperative control system, which includes the server, multiple
Control terminal and multiple mobile service robots, multiple control terminals are distributed in coverage, multiple movable type service-delivery machines
People's Information Mobile Service in the coverage, the coverage include the multiple subregions divided in advance.
Illustratively, which can be applied to the scenes such as Administrative Area, factory floor, meeting room, each control
End processed can be fixed setting each station or each attend a banquet on, mobile service robot can be mobile dustbin, movement
Water dispenser, mobile sweeping robot etc., are also possible to mobile trolley, can be used for loading extraordinary, common set
It is standby, use is shared for the user of each station.
As shown in Figure 1, method includes the following steps:
S11: server receives the service request for being used to request to send mobile service robot that target control end is sent,
The target control end is any control terminal in the multiple control terminal.
Specifically, the corresponding control terminal of service request that server is currently received is target control end.
Illustratively, wired connection can be selected in the connection type between server and control terminal, and server is located at control terminal
In same local area network, the application to the specific topological structure of the local area network without limitation.But not limited to this, server and control
Near field wireless telecommunications, such as zigbee or bluetooth can also be used in communication modes between end.
S12: server is inquired in the affiliated subregion in target control end with the presence or absence of the movable type in idle state
Service robot.
In the present embodiment, server can record each shifting in the subregion for each subregion in multiple subregions
The state of dynamic formula service robot, such as idle state or occupied state.When the state of mobile service robot is idle state
When, the movable type service robot is indicated currently without for any control terminal service, nor on the road for rushing for a certain control terminal
On the way, which can be sent by server；When the state of mobile service robot is occupied state,
Indicate that the movable type service robot is currently being a certain control terminal service, or in the road for rushing for a certain control terminal.
In the present embodiment, the service request includes to send the second identifier of the control terminal of the service request.Illustratively, often
The second identifier of a control terminal can be string number number.
Citing as an embodiment, server can be according to the second identifiers in service request, from the clothes prestored
It is engaged in determining the position for sending the control terminal of the service request in regional Electronic map；Server is inquired again sends the service request
In subregion belonging to the position of control terminal, if there is the mobile service robot in idle state.
Illustratively, coverage is divided into four sub-regions such as subregion A, subregion B, subregion C and subregion D,
At least one control terminal is distributed in each subregion, is also at least assigned a mobile service robot；Such as it services
Device determines that target control end is located in the range of subregion B, then target control end belongs to according to the second identifier of service request
Subregion B；Server is inquired in subregion B with the presence or absence of the mobile service robot in idle state.
S13: if the mobile service robot in idle state is not present in the affiliated subregion in target control end,
Then the service request is stored in waiting queue corresponding with the affiliated subregion in target control end by server.
In the present embodiment, each subregion is corresponding with a waiting queue, and subregion affiliated for target control end is corresponding
Waiting queue, be used in the affiliated subregion in target control end there is no in idle state mobile service robot
In the case where, service request transmitted by the target control end of service device deposit；When the affiliated subregion in target control end
When inside having mobile service robot to be released, the mobile service robot that this is released by server, which is sent, gives waiting queue
In the corresponding control terminal of a service request, and by the service request from waiting queue in remove.
There is no the mobile service-delivery machines in idle state by the affiliated subregion in target control end for this step
In the case where people, the service request deposit waiting queue that target control end is sent, even if needing cooperative control system in service
It asks in the biggish situation of density, is also able to satisfy the respective demand for services of each control terminal, promotes the user experience of control terminal.
In the present embodiment, if there is the mobile server for being in idle state in the affiliated subregion in target control end
Device people, then server by the mobile service robot in idle state in the affiliated subregion in target control end extremely
It sends for few one and gives the target control end, and the state of the mobile service robot being sent is updated to by idle state
Occupied state.
Illustratively, server, which inquires in the affiliated subregion in target control end, has 2 movable types in idle state
Service robot, then server wherein any one mobile service robot can will send and give the target control end.
Alternatively, illustratively, server can will wherein apart from the target control end, closer mobile service robot be sent
Give the target control end.Specifically, being stored with the electronic map of entire coverage in server, server can be according to target control
The number that the target control end is indicated included in the service request that end processed is sent, determines target control in electronic map
The position at end；Server can also receive the environment photo of mobile service robot shooting, by the environment photo and electronically
Figure is matched, and after the somewhere in the environment photo and electronic map matches, is then positioned mobile service robot to this
Place.After server obtains the positioning of the position and movement formula service robot at target control end, mobile server can be calculated
The distance between device people and target control end.
S14: server every preset time period obtains the corresponding waiting queue of each subregion in the multiple subregion
In service request, according to the position for the control terminal for sending each service request in whole service requests obtained, to described
Coverage re-starts division, obtains updated multiple subregions.
In the present embodiment, preset time period can be the preparatory manual configuration of administrator of cooperative control system, such as in advance
If the period can be configured as 10 minutes.Or preset time period is also possible to the list according to multiple mobile service robots
The average service time of secondary service determines that preset time period is more than or equal to average service time.
Illustratively, in a server statistics past hour, each movable type service robot services each time
Duration, the average service time that server calculates the single service of multiple mobile service robots is 4 minutes, then in advance
If the period can be preset as being more than or equal to 4 minutes.It should be appreciated that mobile service robot service each time continue
Time is that server sends the time point of mobile service robot to receive releasing for the movable type service robot with server
Put the difference at the time point of request.Determine preset time period by average service time, on the one hand, can to avoid server frequently into
The calculating that row coverage is repartitioned reduces server load；On the other hand, multiple shiftings in cooperative control system can be made
Dynamic formula service equipment has more fully service time, will not continually be reassigned to phase because subregion is repartitioned
The new subregion answered.
In the present embodiment, server obtains the service in the corresponding waiting queue of each subregion in the multiple subregion
After request, corresponding position of the corresponding control terminal of each service request in electronic map in multiple service requests is marked
Note.
Illustratively, the son before being repartitioned refering to the coverage that Fig. 2 (a), Fig. 2 (a) are the propositions of one embodiment of the application
Area distribution schematic diagram.Each circle indicates a control terminal in Fig. 2 (a), wherein solid line circle indicates the clothes in waiting queue
The position of the corresponding control terminal of business request, dashed circle indicate temporarily the position of the not control terminal of demand for services.Fig. 2 (a)
In entire coverage be divided into four sub-regions such as subregion A, subregion B, subregion C and subregion D.
In the present embodiment, server is according to the control terminal for sending each service request in whole service requests obtained
Position, is specifically realized using clustering algorithm the step of re-starting division to coverage.
Illustratively, k-means algorithm model is selected to re-start division to coverage.Specifically, cooperative control system
Administrator before entire cooperative control system comes into operation, the cluster numbers k in k-means algorithm model is carried out in advance pre-
If such as being preset as 4.Cooperative control system sends each service during use, when server obtains in whole service requests
Behind the position of the control terminal of request, such as Fig. 2 (a), k-means algorithm model is according to the position of the control terminal for sending each service request
It sets, each control terminal is divided into four clusters, each cluster is corresponding with certain area in entire coverage, which is
Illustrate a sub-regions of the cluster in entire coverage.As shown in Fig. 2 (b), Fig. 2 (b) is one embodiment of the application
The coverage of proposition repartition after subregion distribution schematic diagram, Fig. 2 (b) compared with Fig. 2 (a), still have four sons
Region, respectively subregion A ', subregion B ', subregion C ' and subregion D ', but the range of each subregion and area are all
Different from preceding a batch subregion shown in Fig. 2 (a), the control terminal to be serviced such as each is more concentrated relatively in each subregion, can be with
Reduce mobile service robot to turn from a control terminal to the distance of another control terminal.
In the present embodiment, server is in addition to that can be obtained in whole service requests with every preset time period and be sent each clothes
The position for the control terminal requested of being engaged in, and directly according to the control terminal for sending each service request in whole service requests obtained
Position, the coverage is re-started other than division.Server can also obtain all services with every preset time period
The position of the control terminal of each service request is sent in request, then to each subregion in the multiple subregion, is determined
The supply and demand ratio of the subregion, the supply and demand ratio of the subregion are the quantity and the sub-district of the mobile service robot in the subregion
The ratio of number of service request in the corresponding waiting queue in domain.Server again carries out the respective supply and demand ratio of the multiple subregion
Sequence, in the case that the ratio between maximum supply and demand ratio and minimum supply and demand ratio is greater than preset threshold, according to whole obtained
The position that the control terminal of each service request is sent in service request re-starts division to the coverage.
Illustratively, as shown in Fig. 2 (a), it is upper once to coverage carry out sub-zone dividing after, the subregion A of formation
It is assigned to 1 mobile service robot, the subregion B of formation is assigned to 4 mobile service robots, the subregion of formation
C is assigned to 3 mobile service robots, and the subregion D of formation is assigned to 2 mobile service robots.And current, sub-district
The quantity of service request in the corresponding waiting queue of domain A is 4, supply and demand ratio 1/4；In the corresponding waiting queue of subregion B
Service request quantity be 5, supply and demand ratio 4/5；The quantity of service request in the corresponding waiting queue of subregion C is 5
It is a, supply and demand ratio 3/5；The quantity of service request in the corresponding waiting queue of subregion D is 4, supply and demand ratio 2/4.Wherein,
Maximum supply and demand ratio be the corresponding supply and demand ratio 4/5 of subregion B, minimum supply and demand ratio be the corresponding supply and demand ratio 1/4 of subregion C, the two it
Between ratio be 16/5.Assuming that preset threshold is 2, since 16/5 is greater than preset threshold 2, server is needed according to institute at this time
The position that the control terminal of each service request is sent in whole service requests of acquisition re-starts the coverage and draws
Point.
In above-described embodiment, server is by comparing the supply and demand ratio between all subregion, to determine a need for service
Region re-starts sub-zone dividing, makes server as far as possible in the biggish situation of all subregion supply and demand ratio gap, then again into
Row sub-zone dividing advantageously reduces the execution number repartitioned, and reduces mobile service robot from old sub-district domain scheduling
To the frequency of new subregion, and meet the demand for services of each control terminal as far as possible.
S15: server will be located at the control terminal of the subregion for each subregion in updated multiple subregions
The service request of transmission is added in the corresponding waiting queue of the subregion.
Illustratively, as shown in Fig. 2 (a), before coverage is repartitioned, include in the corresponding buffer queue of subregion A
The corresponding control terminal of service request is respectively as follows: 1,2,8,13；The service request for including in the corresponding buffer queue of subregion B is corresponding
Control terminal be respectively as follows: 4,9,11,12,17；The corresponding control terminal of service request for including in the corresponding buffer queue of subregion C
It is respectively as follows: 20,21,26,32,34；The corresponding control terminal difference of the service request for including in the corresponding buffer queue of subregion D
Are as follows: 23,29,35,36.Server will be located at the control of the subregion for each subregion in updated multiple subregions
After the service request that end processed is sent is added in the corresponding waiting queue of the subregion, as shown in Fig. 2 (b), subregion A ' is right
The corresponding control terminal of the service request for including in the buffer queue answered is respectively as follows: 1,2,8,9,13；The corresponding caching of subregion B '
The corresponding control terminal of the service request for including in queue is respectively as follows: 4,11,12,17；It is wrapped in the corresponding buffer queue of subregion C '
The corresponding control terminal of the service request contained is respectively as follows: 20,21,26,32；The service for including in the corresponding buffer queue of subregion D '
Corresponding control terminal is requested to be respectively as follows: 23,29,34,35,36.
Illustratively, each control terminal is also respectively allocated to accordingly by server after re-starting division to coverage
New subregion.As shown in Fig. 2 (b), wherein the control terminals such as 1,2,3,7,8,9,13,14,15 belong to subregion A '；4,5,6,
10, the control terminals such as 11,12,16,17,18 belong to subregion B '；19, the control terminals such as 20,21,25,26,27,31,32,33 belong to
Subregion C '；22, the control terminals such as 23,24,28,29,30,34,35,36 belong to subregion D '.
S16: server is for each subregion in updated multiple subregions, according to the corresponding waiting of the subregion
The quantity of service request in queue distributes mobile service robot for the subregion.
In the present embodiment, server is with specific reference to service request quantity in the corresponding waiting queue of updated all subregion
Ratio, distribute mobile service robot for each updated all subregion.
Illustratively, the ratio of service request quantity is 5:4:4:5 in the corresponding waiting queue of updated all subregion, such as
It altogether include 10 mobile service robots in fruit coordinated control system, then server is all subregion distribution according to aforementioned proportion
Mobile service robot, and rounding calculating is carried out, final subregion A ' is assigned to 3 mobile service robots, subregion
B ' is assigned to 2 mobile service robots, and subregion C ' is assigned to 2 mobile service robots, and subregion D ' is assigned to 3
A movable type service robot.
In the cooperative control method of above-mentioned multiple mobile service robots including step S11 to step S16, due to clothes
It is engaged in after the service request that device reception target control end is sent, can inquire in the affiliated subregion in target control end with the presence or absence of place
It, if it does not exist, then will be belonging to service request deposit and the target control end in the mobile service robot of idle state
The corresponding waiting queue of subregion；It is achieved that server face multiple control terminals service request when, to multiple movements
The orderly control of formula service robot.Again due to including multiple mobile service robots, Duo Geyi in cooperative control system
Dynamic formula service robot can provide service simultaneously under the Collaborative Control of server for multiple control terminals, therefore can solve existing
There is mobile service robot in technology to be generally in the state that supply falls short of demand, cannot sufficiently meet the problem of user demand.
In one embodiment of the application, the mobile service of each of multiple movable type service robots in cooperative control system
Robot all has unique first identifier.Illustratively, the first identifier of each mobile service robot can be a string of numbers
Word number.
Based on above-mentioned steps S11 to step S16, it is multiple movable type service robots can with the following steps are included:
S17a: server receives the release for discharging mobile service robot and requests, and the release request includes mesh
Mark mark, the target identification are the corresponding first identifier of mobile service robot that request is released；
S17b: server determines the corresponding mobile service of target identification described in the multiple mobile service robot
The artificial target movable type service robot of machine, and inquire the corresponding mesh of the affiliated subregion of target movable type service robot
Whether mark waiting queue includes service request；
S17c: if target waiting queue includes service request, server is by the target movable type service-delivery machine
People sends to the corresponding control terminal of a service request in target waiting queue；
S17d: if target waiting queue does not include service request, server is by the target movable type server
The state of device people is updated to idle state by occupied state.
Illustratively, in step S17a, the release request that server receives can be mobile service robot and be sent to
Server, such as after mobile service robot completes the service to control terminal, user's point at control terminal touches movement
The control panel of formula service robot, so that the movable type service robot be made to send release request to server, which is asked
Ask the first identifier for being automatically inserted into the movable type service robot, i.e. target identification.
Alternatively, the release request that server receives is also possible to control terminal and is sent to server, such as work as movable type
After service robot is completed to the service of control terminal, the control panel of user's point touching control terminal at control terminal, to make this
Control terminal sends release request to server.Wherein, the target identification in release request can make mobile service robot exist
Preceding or period is serviced for the control terminal, is sent to the control terminal.
Illustratively, in step S17b, such as server finds target movable type service robot according to target identification,
And determine that the target movable type service robot belongs to subregion A, then whether server inquiry target waiting queue includes clothes
Whether business request includes service request that is, in the corresponding waiting queue of inquiry subregion A.
Illustratively, in step S17c, if in the corresponding waiting queue of subregion A including service request, then it represents that sub-district
There is the control terminal to be serviced such as in the A of domain, these service requests that etc. control terminal to be serviced is sent to server
Temporarily it has been stored into the corresponding waiting queue of subregion A.Target movable type service robot is sent and gives subregion A by server
The corresponding control terminal of a service request in corresponding waiting queue.
As an embodiment, if target waiting queue includes service request, server is from the target
It waits and determines a received service request earliest in queue；Server sends the target movable type service robot to institute
State the corresponding control terminal of received service request earliest.Server is according to chronological order, for service request in waiting queue
Corresponding control terminal sends mobile service robot, improves the fairness of cooperative control system, is unlikely to allow a certain control
End etc. overlong time to be serviced.
Specifically, each service request can have permanent time tag.The time tag can be control terminal label
, time point when service request is sent for characterization control end；Alternatively, the time tag is also possible to server-tag,
For characterizing time point when server receives service request.Since each service request has permanent time tag, because
Even if this service request, after being added into new waiting queue again, multiple service requests in new waiting queue can also
It is ranked up according to permanent time tag.
As another embodiment, if target waiting queue includes service request, described in server obtains
The position of target movable type service robot, and obtain the control terminal that each service request is sent in the target waiting queue
Position；Server sends each service according in the position of the target movable type service robot and target waiting queue
The position of the control terminal of request determines in the target movable type service robot and target waiting queue and sends each clothes
The distance between control terminal of business request；Server, which sends the target movable type service robot, gives the target movement
Formula service robot is apart from nearest control terminal.Server is according to distance, for the corresponding control of service request in waiting queue
Mobile service robot is sent at end processed, and the mobile service robot that can effectively shorten rushes for the distance of control terminal, improves clothes
Business efficiency.
Specifically, server can be according to control as previously mentioned, being stored with the electronic map of entire coverage in server
The number for indicating the control terminal included in the service request sent is held, the position of control terminal is determined in electronic map；
Server can also receive the environment photo of mobile service robot shooting, by the environment photo and electronic map progress
Match, after the somewhere in the environment photo and electronic map matches, then positions mobile service robot at this.Server
After the positioning for obtaining the position and movement formula service robot of control terminal, can calculate mobile service robot and control terminal it
Between distance.
Based on the same inventive concept, one embodiment of the application provides a kind of Collaborative Control of multiple mobile service robots
Device.It is the knot of the Collaborative Control device for multiple mobile service robots that one embodiment of the application proposes with reference to Fig. 3, Fig. 3
Structure block diagram.The device is applied to the server in cooperative control system, and cooperative control system includes the server, multiple control terminals
And multiple mobile service robots, multiple control terminals are distributed in coverage, multiple movable type service robots are taking
Information Mobile Service in business region, coverage includes the multiple subregions divided in advance.
Receiving module 301, for receiving the clothes for being used to request to send mobile service robot of target control end transmission
Business request, the target control end are any control terminal in the multiple control terminal；
Enquiry module 302 whether there is for inquiring in the affiliated subregion in target control end in idle state
Mobile service robot；
It is stored in module 303, if there is no the mobile clothes in idle state in the affiliated subregion in target control end
Be engaged in robot, for the service request to be stored in waiting queue corresponding with the affiliated subregion in target control end；
Division module 304 is used for every preset time period, and it is corresponding etc. to obtain each subregion in the multiple subregion
The service request in queue is waited, according to the position for the control terminal for sending each service request in whole service requests obtained,
Division is re-started to the coverage, obtains updated multiple subregions；
Adding module 305, for the subregion will to be located at for each subregion in updated multiple subregions
The service request that control terminal is sent is added in the corresponding waiting queue of the subregion；And
Distribution module 306, for being corresponded to according to the subregion for each subregion in updated multiple subregions
Waiting queue in service request quantity, distribute mobile service robot for the subregion.
Illustratively, Fig. 3 shown device can also include sending module, if existing in the affiliated subregion in target control end
Mobile service robot in idle state, for by the affiliated subregion in target control end in idle state
At least one of mobile service robot, which is sent, gives the target control end, and the mobile service robot that this is sent
State occupied state is updated to by idle state.
Based on the same inventive concept, another embodiment of the application provides a kind of computer readable storage medium, stores thereon
There is computer program, the step in the method as described in any of the above-described embodiment of the application is realized when which is executed by processor
Suddenly.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating
Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
It is situated between above to cooperative control method, device and the storage of multiple mobile service robots provided herein
Matter is described in detail, and specific examples are used herein to illustrate the principle and implementation manner of the present application, above
The explanation of embodiment is merely used to help understand the present processes and its core concept；Meanwhile for the general skill of this field
Art personnel, according to the thought of the application, there will be changes in the specific implementation manner and application range, in conclusion this
Description should not be construed as the limitation to the application.
Claims (10)
1. a kind of cooperative control method of multiple mobile service robots, which is characterized in that be applied in cooperative control system
Server, the cooperative control system includes the server, multiple control terminals and multiple mobile service robots, institute
It states multiple control terminals to be distributed in coverage, the multiple movable type service robot mobile clothes in the coverage
Business, the coverage includes the multiple subregions divided in advance；The described method includes:
Server receives the service request for being used to request to send mobile service robot that target control end is sent, the target
Control terminal is any control terminal in the multiple control terminal；
Server is inquired in the affiliated subregion in target control end with the presence or absence of the mobile service-delivery machine in idle state
People；
If there is no the mobile service robot in idle state, servers in the affiliated subregion in target control end
The service request is stored in waiting queue corresponding with the affiliated subregion in target control end；
Server every preset time period obtains the service in the corresponding waiting queue of each subregion in the multiple subregion
Request, according to the position for the control terminal for sending each service request in whole service requests obtained, to the coverage
Division is re-started, updated multiple subregions are obtained；
Server is for each subregion in updated multiple subregions, the clothes that the control terminal for being located at the subregion is sent
Business request is added in the corresponding waiting queue of the subregion；
Server takes for each subregion in updated multiple subregions according in the corresponding waiting queue of the subregion
The quantity of business request distributes mobile service robot for the subregion.
2. the method according to claim 1, wherein the method also includes:
If there is the mobile service robot for being in idle state in the affiliated subregion in target control end, server will
At least one of the mobile service robot in idle state in the affiliated subregion in target control end is sent to this
Target control end, and the state of the mobile service robot being sent is updated to occupied state by idle state.
3. according to the method described in claim 2, it is characterized in that, server is sent out according in whole service requests obtained
The position for sending the control terminal of each service request, before re-starting division to the coverage, the method also includes:
Server determines the supply and demand ratio of the subregion, the confession of the subregion for each subregion in the multiple subregion
It more corresponding with the subregion than the quantity for the mobile service robot in the subregion need to wait service request in queue
Ratio of number；
Server is according to the position of the control terminal for sending each service request in whole service requests obtained, to the service
Region re-starts division, comprising:
Server is ranked up the respective supply and demand ratio of the multiple subregion, between maximum supply and demand ratio and minimum supply and demand ratio
In the case that ratio is greater than preset threshold, according to the control terminal for sending each service request in whole service requests obtained
Position re-starts division to the coverage.
4. according to the method described in claim 2, it is characterized in that, it is the multiple movable type service robot in each movement
Formula service robot all has unique first identifier, the method also includes:
Server receives the release for discharging mobile service robot and requests, and the release request includes target identification, institute
Stating target identification is the corresponding first identifier of mobile service robot that request is released；
Server determines that the corresponding mobile service-delivery machine of target identification described in the multiple mobile service robot is artificial
Target movable type service robot, and inquire the affiliated subregion of target movable type service robot corresponding target waiting team
Whether column include service request；
If the target waiting queue includes service request, server sends the target movable type service robot to institute
State the corresponding control terminal of a service request in target waiting queue；
If target waiting queue does not include service request, server is by the state of the target movable type service robot
Idle state is updated to by occupied state.
5. according to the method described in claim 4, it is characterized in that, being taken if target waiting queue includes service request
Business device sends the target movable type service robot to the corresponding control of a service request in target waiting queue
End processed, comprising:
If the target waiting queue includes service request, server determines received earliest from target waiting queue
One service request；
Server sends the target movable type service robot to the corresponding control terminal of received service request earliest.
6. according to the method described in claim 4, it is characterized in that, being taken if target waiting queue includes service request
Business device sends the target movable type service robot to the corresponding control of a service request in target waiting queue
End processed, comprising:
If the target waiting queue includes service request, server obtains the position of the target movable type service robot
It sets, and obtains the position for sending the control terminal of each service request in the target waiting queue；
Server sends each service according in the position of the target movable type service robot and target waiting queue
The position of the control terminal of request determines in the target movable type service robot and target waiting queue and sends each clothes
The distance between control terminal of business request；
Server, which sends the target movable type service robot, gives the target movable type service robot distance recently
Control terminal.
7. according to the method described in claim 2, it is characterized in that, the service request includes to send the control of the service request
The second identifier at end, server are inquired in the affiliated subregion in target control end with the presence or absence of the movable type in idle state
Service robot, comprising:
Server determines from the coverage electronic map prestored according to the second identifier in the service request and sends the clothes
The position for the control terminal requested of being engaged in；
In subregion belonging to the position for the control terminal that server inquiry sends the service request, if exist in idle state
Mobile service robot.
8. a kind of Collaborative Control device of multiple mobile service robots, which is characterized in that be applied in cooperative control system
Server, the cooperative control system includes the server, multiple control terminals and multiple mobile service robots, institute
It states multiple control terminals to be distributed in coverage, the multiple movable type service robot mobile clothes in the coverage
Business, the coverage includes the multiple subregions divided in advance；Described device includes:
Receiving module, for receiving the service request for being used to request to send mobile service robot of target control end transmission,
The target control end is any control terminal in the multiple control terminal；
Enquiry module, for inquiring in the affiliated subregion in target control end with the presence or absence of the mobile clothes in idle state
Be engaged in robot；
It is stored in module, if there is no the mobile service-delivery machines in idle state in the affiliated subregion in target control end
People, for the service request to be stored in waiting queue corresponding with the affiliated subregion in target control end；
Division module is used for every preset time period, obtains the corresponding waiting queue of each subregion in the multiple subregion
In service request, according to the position for the control terminal for sending each service request in whole service requests obtained, to described
Coverage re-starts division, obtains updated multiple subregions；
Adding module, for the control terminal of the subregion will to be located at for each subregion in updated multiple subregions
The service request of transmission is added in the corresponding waiting queue of the subregion；And
Distribution module, each subregion for being directed in updated multiple subregions, according to the corresponding waiting of the subregion
The quantity of service request in queue distributes mobile service robot for the subregion.
9. device according to claim 8, which is characterized in that described device further include:
Module is sent, if there is the mobile service robot for being in idle state in the affiliated subregion in target control end,
For at least one of the mobile service robot in idle state in the affiliated subregion in target control end to be sent
It sends and gives the target control end, and the state of the mobile service robot being sent is updated to occupy shape by idle state
State.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor
Step in method as claimed in claim 1.
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