CN112766663A - Robot scheduling method and device - Google Patents
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- 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
- G06Q10/06316—Sequencing of tasks or work
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- 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
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- 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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- G—PHYSICS
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- 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
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Abstract
The application discloses a robot scheduling method and device. The method comprises the following steps: adding tasks submitted by a service end into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is ordered according to the corresponding priority; when state information which is reported by a robot and contains at least one attribute index is received, tasks which meet each attribute index corresponding to the robot are screened out one by one in a task queue according to priority sequencing from high to low, wherein each task corresponds to at least one attribute; generating an instruction corresponding to the robot for the screened task; and issuing the generated instruction to the robot so as to enable the robot to execute the instruction. The method and the system solve the problem that the article delivery efficiency of the article delivery robot is low due to a related robot scheduling method.
Description
Technical Field
The application relates to the technical field of robot scheduling, in particular to a robot scheduling method and device.
Background
With the popularization of take-out delivery service and commercial robots in the market, more and more hotels and office buildings have intelligent delivery robots, the types of the delivery robots are more, for example, the delivery robots with one, more, connected or separated storage spaces and a variety of delivery articles, such as living goods, food, beverages, takeout, medical supplies, garbage and the like, and the timeliness corresponding to the different types of delivery articles has diversity, so that the existing robot scheduling method cannot fully utilize the characteristics of various robots to solve the delivery of complex business scenes (the types of articles, the timeliness are complex, and the diversity of robot functions is large), and the resource utilization rate is maximized.
In the process of implementing the embodiment of the application, the inventor finds that the prior art has at least the following problems:
in the prior art, the problem of low article delivery efficiency of the delivery robot caused by the robot scheduling method is solved.
Disclosure of Invention
The application mainly aims to provide a robot scheduling method and a robot scheduling device to solve the problem that the robot dispatching method in the related art causes that the article delivery efficiency of the article delivery robot is low.
In order to achieve the above object, according to an aspect of the present application, there is provided a robot scheduling method, which is applied to a scheduling server, the method including:
adding tasks submitted by a service end into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is ordered according to the corresponding priority;
when state information which is reported by a robot and contains at least one attribute index is received, tasks which meet each attribute index corresponding to the robot are screened out one by one in a task queue according to priority sequencing from high to low, wherein each task corresponds to at least one attribute;
generating an instruction corresponding to the robot for the screened task;
and issuing the generated instruction to the robot so as to enable the robot to execute the instruction.
Optionally, the step of sequentially screening out the tasks meeting each of the attribute indexes corresponding to the robot from high to low in the task queue according to the priority order includes:
determining whether tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low;
when determining that one task meeting each attribute index corresponding to the robot exists, screening the task from the task queue;
and updating the task queue and each attribute index corresponding to the robot so as to re-execute the step of determining whether the tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low.
Optionally, the attribute index includes one or more of available storage bin, bin accommodating space, bearable weight, delivery item category, delivery area and number of users corresponding to the bin.
Optionally, the method further comprises:
and for each task sequenced in the task queue, adjusting the priority corresponding to the task according to time change.
Optionally, the adjusting the priority corresponding to each task in the task queue according to the time change includes:
adjusting the priority corresponding to the task according to time variation based on a unified rule, or
And adjusting the priority corresponding to the task according to the time change and the preset adjustment amplitude corresponding to the category of the task.
Optionally, the method further comprises:
for each task sequenced in the task queue, determining whether the sequencing time of the task reaches a preset alarm threshold value;
and when the sequencing time of the tasks reaches a preset alarm threshold value, generating overtime alarm information corresponding to the tasks, and sending the overtime alarm information to the service terminal.
Optionally, the issuing the generated instruction to the robot includes:
adding the generated instructions into an instruction queue of a corresponding area, and determining the sequence of each instruction in the instruction queue according to the busy state of the resource corresponding to each instruction;
and issuing instructions to the robot in sequence according to the sequence of the instructions in the instruction queue.
In a second aspect, the present application further provides a robot scheduling apparatus, where the apparatus is applied to a scheduling server, and the apparatus includes:
the task queue module is used for adding tasks submitted by a service end into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is sorted according to the corresponding priority;
the task scheduling module is used for screening out tasks meeting each attribute index corresponding to the robot one by one from high to low according to priority sequencing in the task queue when receiving state information which comprises at least one attribute index and is reported by the robot, wherein each task corresponds to at least one attribute;
the instruction generating module is used for generating the screened tasks into instructions corresponding to the robot;
and the instruction issuing module is used for issuing the generated instruction to the robot so as to enable the robot to execute the instruction.
In a third aspect, the present application further provides a computer device, including: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute a computer program stored in the memory;
the computer program is used for executing the robot scheduling method.
In a fourth aspect, the present application also provides a computer-readable storage medium storing computer code that, when executed, causes the robot scheduling method as described above to be performed.
In the robot scheduling method provided by the embodiment of the application, tasks submitted by a business end are added into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is sorted according to the corresponding priority; when state information which is reported by a robot and contains at least one attribute index is received, tasks which meet each attribute index corresponding to the robot are screened out one by one in a task queue according to priority sequencing from high to low, wherein each task corresponds to at least one attribute; generating an instruction corresponding to the robot for the screened task; and issuing the generated instruction to the robot so as to enable the robot to execute the instruction. Therefore, the tasks are sorted according to the priorities corresponding to the tasks, and then the tasks which can be executed are screened out from the task queue according to the attribute indexes and the attributes corresponding to the tasks of the robot, so that the robot can execute the tasks which accord with the attribute characteristics of the robot as much as possible, the characteristics of the robot are fully utilized to execute the complex tasks, and the purpose of improving the article distribution efficiency of the article delivery robot is achieved. And the technical problem that the robot dispatching method in the prior art causes the low article delivery efficiency of the article delivery robot is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a flow diagram of a robot scheduling method according to one embodiment of the present application;
FIG. 2 is a schematic flow chart of a step 200 provided by an embodiment of the present application;
FIG. 3 is a schematic flow chart of a step 400 provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot scheduling device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted", "disposed", "provided", "connected", "slidably connected", "fixed", should be understood in a broad sense. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
An embodiment of the present application provides a robot scheduling method, which is applied to a scheduling server, and fig. 1 is a flowchart illustrating the robot scheduling method provided in the embodiment of the present application, and as shown in fig. 1, the method includes the following steps 100 to 400:
and 100, adding tasks submitted by a service end into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is sorted according to the corresponding priority.
The service end can receive a task of order distribution sent by a user terminal or other service ends, the task can be that a robot takes express and distributes the express to a user, or food (such as snacks, cold drinks and the like) or supplies (woundplast, washing supplies and the like) are taken in an intelligent container, or a task of collecting garbage and the like when the robot arrives at a user position, so that the types of the tasks are complex, but the emergency degree of the tasks can be determined through the priority, each task corresponds to a preset priority, for example, the woundplast can be taken as a task with the priority of 10, namely a task needing quick processing is very urgent, and the task of collecting garbage can be a task with the priority of 1 and the execution time can be long and is not urgent. Alternatively, in the task queue sorting, the tasks of the same priority may be sorted according to the task submission time, that is, the task with long submission time is arranged in front of the task with short submission time. Also, for a single task, there is a need to go from the source location where the item is taken and the destination location to which the item is to be sent.
Specifically, the service end submits the task to the scheduling server end, and the scheduling server end determines the position of the task in the task queue corresponding to the task according to the priority of the task, so that the task is added to the task queue.
200, when receiving state information which is reported by a robot and contains at least one attribute index, screening out tasks which meet each attribute index corresponding to the robot one by one in the task queue according to the priority sequence from high to low, wherein each task corresponds to at least one attribute.
The robot reports state information periodically, the state information can display the task state of the robot and attribute indexes corresponding to the robot, and optionally, the attribute indexes include one or more of available storage bin, bin accommodating space, bearable weight, delivery article types, delivery areas (source type, location and destination location) and the number of users corresponding to the bin. For example, some robots may have a plurality of independent available storage positions, some robots only have one available storage position, and the storage space corresponding to each available storage position may also be different, and the type of the delivered items may be a fixed type, for example, a certain robot may only transport garbage, while some robots may transport food and supplies in an intelligent container, while some robots may not transport food and supplies in an intelligent container but may receive express items in an express delivery storage cabinet, and the positions correspond to the number of users, that is, each available storage position may not receive items of a plurality of users, or one available storage position may only deliver items of the same user; each robot may contain a plurality of attribute indices. And the attributes corresponding to the tasks may include the volume of the item, the weight of the item, the type of the item (food, supplies, trash, etc.), the distribution area, the corresponding users, etc., wherein there may be a plurality of tasks that may correspond to the same user; the attribute corresponding to each task is used for judging whether the attribute index of the robot is met, namely whether the task can be executed by the robot, the weight of the object is 50 kg according to the attribute corresponding to the task, and the attribute index corresponding to the robot is 40 kg, so that the robot cannot execute the task, and the task is determined to meet the attribute index corresponding to the robot.
Specifically, each attribute index included by the robot is determined first, and tasks meeting each attribute index corresponding to the robot are screened out one by one from high to low according to the priority sequence in the task queue, wherein all attributes corresponding to each task must all meet each attribute index corresponding to the robot, when the attribute index of the robot does not have the attribute corresponding to the task, the attribute of the task is defaulted to meet the robot, for example, when no article type exists in the attribute index of the robot, the robot is defaulted to be capable of distributing any article type.
Optionally, the robot and the scheduling server communicate with each other through an Mqtt protocol. In order to reduce the problems of unstable network, excessive data transmission consumption flow and the like in the communication between the lower robot and the cloud server as much as possible, the communication between the robot and the scheduling server can adopt a lightweight MQTT protocol, the robot issues information such as heartbeat (state information of the robot and tasks) to the MQTT server through a publishing and subscribing mode, and the scheduling server (which can be the cloud server) subscribes and processes the information.
And 300, generating an instruction corresponding to the robot for the screened task.
Specifically, the screened tasks are tasks that the robot needs to execute at present, and then the execution stages of the tasks are divided, so as to generate instructions corresponding to the tasks.
And 400, issuing the generated instruction to the robot so that the robot executes the instruction.
Specifically, the generated instruction is issued to the robot corresponding to the instruction, and the robot executes the instruction. Therefore, the tasks are sorted according to the priorities corresponding to the tasks, and then the tasks which can be executed are screened out from the task queue according to the attribute indexes and the attributes corresponding to the tasks of the robot, so that the robot can execute the tasks which accord with the attribute characteristics of the robot as much as possible, the characteristics of the robot are fully utilized to execute the complex tasks, and the purpose of improving the article distribution efficiency of the article delivery robot is achieved.
In an optional implementation manner, fig. 2 is a schematic flowchart of a step 200 provided in an embodiment of the present application, and as shown in fig. 2, in the step 200, tasks meeting each of the attribute indexes corresponding to the robot are sequentially screened out from a high level to a low level in the task queue according to a priority order, which includes the following steps 210 to 230:
210, determining whether tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low;
220, when determining that one task meeting each attribute index corresponding to the robot exists, screening the task from the task queue;
and 230, updating the task queue and each attribute index corresponding to the robot, so as to re-execute the step of determining whether the tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low.
Specifically, firstly, whether tasks meeting each attribute index corresponding to the robot exist is determined in the task queue according to the priority sequence from high to low, when it is determined that one task meeting each attribute index corresponding to the robot exists, the task is screened out from the task queue, a corresponding instruction is generated for the task, the task queue is updated, the task is removed from the task queue, and each attribute index corresponding to the robot is updated, namely, the attribute of the task occupies some attribute indexes of the robot, for example, the number of available storage bins may be reduced, the bin accommodation space and the bearable weight may be changed, and some attribute indexes may not be changed, for example, the type of goods to be delivered and the delivery area, and each attribute index corresponding to the task queue and the robot is updated, and re-executing the step 210 until no task meeting each attribute index corresponding to the robot exists in the task queue.
It should be noted that, the robot in the instruction execution state may also perform scheduling, and when the robot is in the instruction execution state, the attribute index of the robot may further include a minimum time limit index, where the minimum time limit index is determined by a remaining time limit of a task that the robot needs to execute the task, for example, the number of tasks executed by the robot includes 2, where one task has a remaining time limit of 20 minutes and the other task has a remaining time limit of 30 minutes, the minimum time limit index of the robot is a set value that is less than or equal to 20 minutes; the attribute of the task corresponding to the attribute index of the robot is required task time for executing the task, and when the required task time is less than the minimum time limit index. Those skilled in the art can specifically set whether the robot in the state of executing the instruction is performing step 200 according to actual needs.
In an optional implementation manner, the robot scheduling method provided in an embodiment of the present application further includes:
and for each task sequenced in the task queue, adjusting the priority corresponding to the task according to time change.
Specifically, in order to avoid the situation that some tasks with low priority cannot be executed due to the queue-break of tasks with high priority, the priority corresponding to the tasks may be adjusted according to the time change, that is, the priority of the tasks may be increased as the queue time is given.
Specifically, the adjusting the priority corresponding to each task in the task queue according to the time change includes:
adjusting the priority corresponding to the task according to time variation based on a unified rule, or
And adjusting the priority corresponding to the task according to the time change and the preset adjustment amplitude corresponding to the category of the task.
The rule that the priority of the task changes along with the time can be a unified rule, namely the priority corresponding to the task is adjusted according to the time change based on the unified rule, and different rules can also be set according to the categories of the objects in the task, namely the priority corresponding to the task is adjusted according to the time change and the preset adjusting amplitude corresponding to the category to which the task belongs.
In an optional implementation manner, the robot scheduling method provided in an embodiment of the present application further includes:
for each task sequenced in the task queue, determining whether the sequencing time of the task reaches a preset alarm threshold value;
and when the sequencing time of the tasks reaches a preset alarm threshold value, generating overtime alarm information corresponding to the tasks, and sending the overtime alarm information to the service terminal.
Specifically, when a plurality of tasks are in a task queue and the robot is busy or fails to process the tasks in time, the tasks may be overtime, and then whether the sequencing time of the tasks reaches a preset alarm threshold value is determined.
In an optional implementation manner, fig. 3 is a schematic flowchart of a step 400 provided in an embodiment of the present application, and as shown in fig. 3, the step 400 issues the generated instruction to the robot, and includes the following steps 410 and 420:
410, adding the generated instructions into an instruction queue of a corresponding area, and determining the sequence of each instruction in the instruction queue according to the busy state of the resource corresponding to each instruction;
and 420, issuing the instructions to the robot in sequence according to the sequence of the instructions in the instruction queue.
The command queue is divided according to areas, namely each area corresponds to one command queue, for example, if the area is an office building, a hotel or a hospital, the commands corresponding to the robots in the area are added to the command queue corresponding to the area; the resource is associated equipment executed by a robot, such as an elevator, an intelligent container and the like, the busy state of the resource can be whether the resource corresponds to the executed robot at present, the more the number of the corresponding robots is, the higher the busy state of the resource is, in order to improve the resource utilization rate and save time, the robot is preferentially made to execute an instruction with a low busy state of the corresponding resource, for example, the robot needs to go to two intelligent containers to take goods, wherein a first intelligent container is in an idle state, another robot in a second intelligent container to take goods, and the robot is preferentially made to execute the goods taking to the first intelligent container.
In the robot scheduling method provided in the embodiment of the present application, by setting: adding tasks submitted by a service end into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is ordered according to the corresponding priority; when state information which is reported by a robot and contains at least one attribute index is received, tasks which meet each attribute index corresponding to the robot are screened out one by one in a task queue according to priority sequencing from high to low, wherein each task corresponds to at least one attribute; generating an instruction corresponding to the robot for the screened task; and issuing the generated instruction to the robot so as to enable the robot to execute the instruction. Therefore, the tasks are sorted according to the priorities corresponding to the tasks, and then the tasks which can be executed are screened out from the task queue according to the attribute indexes and the attributes corresponding to the tasks of the robot, so that the robot can execute the tasks which accord with the attribute characteristics of the robot as much as possible, the characteristics of the robot are fully utilized to execute the complex tasks, and the purpose of improving the article distribution efficiency of the article delivery robot is achieved. And the technical problem that the robot dispatching method in the prior art causes the low article delivery efficiency of the article delivery robot is solved.
Based on the same technical concept, the present application further provides a robot scheduling apparatus, which is applied to a scheduling server, and fig. 4 is a schematic structural diagram of the robot scheduling apparatus provided in the embodiment of the present application, and as shown in fig. 4, the apparatus includes:
the task queue module 10 is configured to add tasks submitted by a service end to a task queue, where each task corresponds to a preset priority, and each task included in the task queue is sorted according to the corresponding priority;
the task scheduling module 20 is configured to, when receiving status information including at least one attribute index reported by a robot, screen out tasks meeting each of the attribute indexes corresponding to the robot one by one in the task queue according to a priority order from high to low, where each of the tasks corresponds to at least one attribute;
the instruction generating module 30 is configured to generate an instruction corresponding to the robot for the screened task;
and the instruction issuing module 40 is configured to issue the generated instruction to the robot, so that the robot executes the instruction.
The robot scheduling apparatus of this embodiment is used for a robot scheduling method, and therefore, the specific implementation manner in the apparatus may be found in the foregoing embodiment section of the robot scheduling method, and the specific implementation manner may refer to the description of each corresponding embodiment section, and is not described herein again.
Optionally, the task scheduling module 20 is specifically configured to:
determining whether tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low;
when determining that one task meeting each attribute index corresponding to the robot exists, screening the task from the task queue;
and updating the task queue and each attribute index corresponding to the robot so as to re-execute the step of determining whether the tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low.
Optionally, the attribute index includes one or more of available storage bin, bin accommodating space, bearable weight, delivery item category, delivery area and number of users corresponding to the bin.
Optionally, the apparatus further comprises:
and the priority adjusting module is used for adjusting the priority corresponding to each task sequenced in the task queue according to time change.
Optionally, the priority adjustment module is specifically configured to:
adjusting the priority corresponding to the task according to time variation based on a unified rule, or
And adjusting the priority corresponding to the task according to the time change and the preset adjustment amplitude corresponding to the category of the task.
Optionally, the apparatus further comprises:
the warning module is used for determining whether the sequencing time of the tasks reaches a preset warning threshold value or not for each task sequenced in the task queue; and when the sequencing time of the tasks reaches a preset alarm threshold value, generating overtime alarm information corresponding to the tasks, and sending the overtime alarm information to the service terminal.
Optionally, the instruction issuing module 40 is specifically configured to:
adding the generated instructions into an instruction queue of a corresponding area, and determining the sequence of each instruction in the instruction queue according to the busy state of the resource corresponding to each instruction;
and issuing instructions to the robot in sequence according to the sequence of the instructions in the instruction queue.
In the robot scheduling apparatus provided in the embodiment of the present application, by setting: the task queue module 10 is configured to add tasks submitted by a service end to a task queue, where each task corresponds to a preset priority, and each task included in the task queue is sorted according to the corresponding priority; the task scheduling module 20 is configured to, when receiving status information including at least one attribute index reported by a robot, screen out tasks meeting each of the attribute indexes corresponding to the robot one by one in the task queue according to a priority order from high to low, where each of the tasks corresponds to at least one attribute; the instruction generating module 30 is configured to generate an instruction corresponding to the robot for the screened task; and the instruction issuing module 40 is configured to issue the generated instruction to the robot, so that the robot executes the instruction. Therefore, the tasks are sorted according to the priorities corresponding to the tasks, and then the tasks which can be executed are screened out from the task queue according to the attribute indexes and the attributes corresponding to the tasks of the robot, so that the robot can execute the tasks which accord with the attribute characteristics of the robot as much as possible, the characteristics of the robot are fully utilized to execute the complex tasks, and the purpose of improving the article distribution efficiency of the article delivery robot is achieved. And the technical problem that the robot dispatching method in the prior art causes the low article delivery efficiency of the article delivery robot is solved.
Based on the same technical concept, the present application also provides a computer device, comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute a computer program stored in the memory;
the computer program is used for executing the processing method of the vehicle networking accident event.
Based on the same technical concept, the present application also provides a computer-readable storage medium storing computer code, which when executed, performs the processing method of the internet of vehicles accident event as described above.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the computer-readable storage medium described above may refer to the corresponding process in the foregoing method embodiments, and is not described herein again.
The computer program referred to in the present application may be stored in a computer-readable storage medium, which may include: any physical device capable of carrying computer program code, virtual device, flash disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only computer Memory (ROM), Random Access computer Memory (RAM), electrical carrier wave signal, telecommunications signal, and other software distribution media, and the like.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A robot scheduling method is applied to a scheduling server side and comprises the following steps:
adding tasks submitted by a service end into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is ordered according to the corresponding priority;
when state information which is reported by a robot and contains at least one attribute index is received, tasks which meet each attribute index corresponding to the robot are screened out one by one in a task queue according to priority sequencing from high to low, wherein each task corresponds to at least one attribute;
generating an instruction corresponding to the robot for the screened task;
and issuing the generated instruction to the robot so as to enable the robot to execute the instruction.
2. The robot scheduling method according to claim 1, wherein the step of screening out the tasks satisfying each of the attribute indexes corresponding to the robot one by one in the task queue according to a priority order from high to low comprises:
determining whether tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low;
when determining that one task meeting each attribute index corresponding to the robot exists, screening the task from the task queue;
and updating the task queue and each attribute index corresponding to the robot so as to re-execute the step of determining whether the tasks meeting each attribute index corresponding to the robot exist in the task queue one by one according to the priority sequence from high to low.
3. The robot scheduling method of claim 2, wherein the attribute index includes one or more of available storage bin, bin holding space, loadable weight, delivered article category, delivery area, and number of users corresponding to the bin.
4. The robot scheduling method of claim 1, further comprising:
and for each task sequenced in the task queue, adjusting the priority corresponding to the task according to time change.
5. The robot scheduling method of claim 4, wherein said adjusting the priority corresponding to each of the tasks in the task queue according to the time variation comprises:
adjusting the priority corresponding to the task according to time variation based on a unified rule, or
And adjusting the priority corresponding to the task according to the time change and the preset adjustment amplitude corresponding to the category of the task.
6. The robot scheduling method of claim 1, further comprising:
for each task sequenced in the task queue, determining whether the sequencing time of the task reaches a preset alarm threshold value;
and when the sequencing time of the tasks reaches a preset alarm threshold value, generating overtime alarm information corresponding to the tasks, and sending the overtime alarm information to the service terminal.
7. The robot scheduling method of claim 1, wherein said issuing the generated instruction to the robot comprises:
adding the generated instructions into an instruction queue of a corresponding area, and determining the sequence of each instruction in the instruction queue according to the busy state of the resource corresponding to each instruction;
and issuing instructions to the robot in sequence according to the sequence of the instructions in the instruction queue.
8. A robot scheduling device is applied to a scheduling server side, and comprises:
the task queue module is used for adding tasks submitted by a service end into a task queue, wherein each task corresponds to a preset priority, and each task contained in the task queue is sorted according to the corresponding priority;
the task scheduling module is used for screening out tasks meeting each attribute index corresponding to the robot one by one from high to low according to priority sequencing in the task queue when receiving state information which comprises at least one attribute index and is reported by the robot, wherein each task corresponds to at least one attribute;
the instruction generating module is used for generating the screened tasks into instructions corresponding to the robot;
and the instruction issuing module is used for issuing the generated instruction to the robot so as to enable the robot to execute the instruction.
9. A computer device, comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute a computer program stored in the memory;
the computer program is for performing the robot scheduling method of any of claims 1-7.
10. A computer readable storage medium storing computer code which, when executed, causes the robot scheduling method of any one of claims 1-7 to be performed.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113625646A (en) * | 2021-08-20 | 2021-11-09 | 北京云迹科技有限公司 | Scheduling system of intelligent garbage robot |
| CN113703844A (en) * | 2021-07-27 | 2021-11-26 | 厦门市思芯微科技有限公司 | Instruction issuing method, system and device and computer readable storage medium |
| CN114442631A (en) * | 2022-01-26 | 2022-05-06 | 南京天溯自动化控制系统有限公司 | Intelligent scheduling system and method for hospital material conveying robot |
| WO2022237323A1 (en) * | 2021-05-13 | 2022-11-17 | 灵动科技（北京）有限公司 | Scheduling system and method for robot, robot, and customization method |
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- 2020-12-31 CN CN202011643104.6A patent/CN112766663A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022237323A1 (en) * | 2021-05-13 | 2022-11-17 | 灵动科技（北京）有限公司 | Scheduling system and method for robot, robot, and customization method |
| CN113703844A (en) * | 2021-07-27 | 2021-11-26 | 厦门市思芯微科技有限公司 | Instruction issuing method, system and device and computer readable storage medium |
| CN113625646A (en) * | 2021-08-20 | 2021-11-09 | 北京云迹科技有限公司 | Scheduling system of intelligent garbage robot |
| CN113625646B (en) * | 2021-08-20 | 2022-12-13 | 北京云迹科技股份有限公司 | Scheduling system of intelligent garbage robot |
| CN114442631A (en) * | 2022-01-26 | 2022-05-06 | 南京天溯自动化控制系统有限公司 | Intelligent scheduling system and method for hospital material conveying robot |
| CN114442631B (en) * | 2022-01-26 | 2023-08-22 | 南京天溯自动化控制系统有限公司 | Intelligent dispatching system and method for hospital material conveying robot |
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