CN113033971B - Server, and waybill scheduling method, medium and device of delivery robot - Google Patents
Server, and waybill scheduling method, medium and device of delivery robot Download PDFInfo
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Abstract
The invention discloses a server and a waybill scheduling method, medium and device of a delivery robot, wherein the method comprises the following steps: acquiring a non-placed manifest at a preset frequency, and updating the manifest list; acquiring state information of each bin on a delivery robot of a rider cargo area group to form a bin list; the delivery robot comprises at least one box, each box having at least one bin for storing goods; distributing the unreleased manifest in the manifest list to a target idle bin of a target delivery robot according to a preset rule; the preset rule is a peak time period, the target transportation floors of all bins on the delivery robot are consistent and/or the target transportation floors of all bins in the same box on the delivery robot are consistent in an off-peak time period. The invention can simulate the distribution effect of building manager on the waybill, not only can reduce the labor cost, but also can ensure the robot delivery efficiency of the site, and increases the customer satisfaction.
Description
[ field of technology ]
The present invention relates to the field of robots, and in particular, to a method, medium and apparatus for scheduling a waybill for a server and a delivery robot.
[ background Art ]
With the rapid development of the robot industry, various service robots are layered, and robots are widely applied in our lives and works. Robots currently serviced within a building typically have flat layer delivery capability within the building and multiple bins for storing items so that the robot can deliver items at multiple different destinations in one pass. Meanwhile, common floors in modern buildings, especially business office buildings and mall buildings are high, and for the delivery tasks of the cross floors in the buildings, the robots need to move between different floors by taking the elevators, so that the times of taking the elevators on the upper floors and the lower floors of the robots are reduced, and the waybills need to be distributed to the robots which are more suitable as much as possible. The prior art is building operators guiding riders to place goods on robots. Building operators can consider the shipping bill which is put on the currently available robots, and select the appropriate robots to put according to the shipping bill currently input by the rider, the target floor, the putting time and other factors. This approach requires one manager per robotic distribution building and would be a significant human cost overhead. Therefore, an automatic scheme of the system is needed, and the system can perform bill combining and bill tracking processing on the shipping bill without assistance of management staff in the building, so as to guide a rider to put goods on the most suitable robot.
[ invention ]
The invention provides a server, a waybill scheduling method, medium and device of a delivery robot, and solves the technical problems.
The technical scheme for solving the technical problems is as follows: a waybill scheduling method of a delivery robot, comprising the steps of:
step 1, acquiring a non-placed manifest at a preset frequency, and updating the manifest list;
step 2, acquiring state information of each bin on a delivery robot of a rider cargo area group to form a bin list; the delivery robot comprises at least one box, each box having at least one bin for storing goods;
step 3, distributing the unreleased manifest in the manifest list to a target idle bin of the target delivery robot according to a preset rule;
the preset rule is as follows: the target transport floors of all bins on the delivery robot are consistent during peak hours and/or consistent during off-peak hours.
In yet another possible implementation manner, the acquiring the status information of each bin on the delivery robot of the rider delivery area group specifically includes the following steps:
s201, acquiring state information of all delivery robots in a building;
s202, calculating the expected arrival time of each delivery robot returning to a preset robot put point;
and S203, when the estimated arrival time is smaller than a first preset threshold value, the corresponding delivery robot is listed in the rider goods placing block, otherwise, the corresponding delivery robot is listed in the non-rider goods placing block.
In yet another possible implementation manner, the calculating the estimated arrival time period of each delivery robot returning to the preset robot put point in step S202 specifically includes the following steps:
s2021, acquiring a real-time distance between the delivery robot and the preset robot put point;
s2022, judging whether the real-time distance is larger than a second preset threshold value, if so, calculating the time length for the corresponding delivery robot to finish all the waybills and return to the preset robot delivery point, and taking the time length as the expected arrival time length; if not, calculating the time length of the corresponding delivery robot moving from the current point position to the preset robot placing point, and taking the time length as the expected arrival time length.
In another possible implementation manner, the method includes the steps of acquiring the unreleased manifest at a preset frequency and updating the manifest list, and specifically includes the following steps:
s101, acquiring unreleased manifest at a preset frequency, and sorting according to the ascending order of the creation time of the unreleased manifest to generate a manifest list;
s102, traversing the waybill list, and if any one of the waybill lists has a prior non-pickup waybill of the same target transport floor within a preset queue time, moving the prior non-pickup waybill to the back of the prior non-pickup waybill and updating the waybill list;
s103, repeating the step S102 until the prior unreleased bill and the subsequent unreleased bill with the same target transportation floor do not exist in the preset queue time.
In yet another possible implementation manner, the allocating the unreleased manifest in the manifest list to the target idle space of the target delivery robot according to the preset rule specifically includes the following steps:
s301, sequentially calling the unreleased manifest in the manifest list, traversing the bin list, calculating the estimated arrival time of the delivery robot after the unreleased manifest is allocated to the same box when the unreleased manifest with the same target transport floor exists in the same box, if the estimated arrival time is smaller than a third preset threshold value, allocating the unreleased manifest to the same box, otherwise, putting the unreleased manifest back to the manifest list, and updating the bin list;
s302, judging whether the current time is a peak time period, if so, executing S303, and if not, executing S304;
s303, re-picking the unreleased manifest in the manifest list, traversing the updated bin list, calculating the estimated arrival time of the delivery robot after the unreleased manifest is allocated to the idle box when the idle box exists and the unreleased manifest with the same target transport floor exists in other boxes, if the estimated arrival time is smaller than a third preset threshold, allocating the unreleased manifest to the idle box, otherwise, re-putting the unreleased manifest back to the manifest list, and updating the bin list;
s304, the unreported manifest in the manifest list is recalled, the updated manifest list is traversed, when an idle box exists and the number of unreported manifest in the idle box is the same as that of the unreported manifest in the target transport floor, the estimated arrival time of the delivery robot after the corresponding unreported manifest is put in the idle box is calculated, if the estimated arrival time is smaller than a third preset threshold, the corresponding unreported manifest is put in the idle box, otherwise, the unreported manifest is put back in the manifest list again, and the manifest list is updated.
In a second aspect, the invention provides a waybill scheduling device of a delivery robot, comprising an updating module, an acquiring module and an allocating module,
the updating module is used for acquiring the unreleased manifest at a preset frequency and updating the manifest list;
the acquisition module is used for acquiring the state information of each bin on the delivery robot of the rider cargo area group to form a bin list; the delivery robot comprises at least one box, each box having at least one bin for storing goods;
the allocation module is used for allocating the unreleased manifest in the manifest list to a target idle bin of the target delivery robot according to a preset rule;
the preset rule is as follows: the target transport floors of all bins on the delivery robot are consistent during peak hours and/or consistent during off-peak hours.
In another possible implementation manner, the acquiring module specifically includes:
the first acquisition unit is used for acquiring state information of all delivery robots in the building;
the calculating unit is used for calculating the expected arrival time of each delivery robot returning to the preset robot put point;
and the dividing unit is used for listing the corresponding delivery robot into the rider goods-placing granules when the expected arrival time is smaller than a first preset threshold value, or listing the corresponding delivery robot into the non-rider goods-placing granules.
In a further possible implementation, the computing unit is specifically configured to:
acquiring a real-time distance between the delivery robot and a delivery point of the preset robot;
judging whether the real-time distance is larger than a second preset threshold value, if so, calculating the time length for the corresponding delivery robot to finish all the waybills and return to the preset robot delivery point, and taking the time length as the expected arrival time length; if not, calculating the time length of the corresponding delivery robot moving from the current point position to the preset robot placing point, and taking the time length as the expected arrival time length.
In a third aspect, the present invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements a waybill scheduling method of the delivery robot.
In a fourth aspect, the present invention provides a server comprising: a processor, a transceiver, and the computer-readable storage medium, wherein,
the transceiver is used for receiving and transmitting data under the control of the processor;
the processor, when executing a computer program on the computer readable storage medium, implements the steps of a waybill scheduling method of the delivery robot.
The invention provides a server and a waybill scheduling method, medium and device for a delivery robot, which can simulate the allocation effect of building management personnel on the waybill, reduce labor cost, ensure the delivery efficiency of the robot at a site and increase customer satisfaction.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a waybill scheduling method of a delivery robot according to an embodiment of the present application;
FIGS. 2a-2g are application effect diagrams of a waybill scheduling method of a delivery robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a waybill dispatching device of a delivery robot according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a server according to an embodiment of the present application.
[ detailed description ] of the invention
In order to make the objects, technical solutions and advantageous technical effects of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and detailed description. It should be understood that the detailed description is intended to illustrate the invention, and not to limit the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Several terms which are referred to in this application are first introduced and explained:
waybill: to describe one delivery task of the robot. The basic information of a waybill is composed of an initial place, a destination place, a addressee name, an addressee mobile phone number and the like.
Waybill status: to describe the state description of the entire lifecycle of the robotic manifest. The states include: created, placed, to be delivered, in delivery, arrived, signed, detained, etc.
Point location: many physical locations that robots can sense are marked when the building is implemented. A point location contains information of a location base, such as coordinate information on a map where the location is located, a stop angle, etc.
The rider places goods at the point: a rider place of goods planned in the building layout. After a rider enters a building, the code is scanned at a goods placing point of the rider, a waybill is input, and then the robot is waited for going forward. The number of rider cargo positions in a building is typically less than the number of robots. The rest robots can stop at the standby point where the robots are located.
And (3) carrying out a bill pool: a set of menu lists.
Waybill group: the waybills are divided into different groups according to certain conditions.
And (3) sheet: the waybills are put together according to certain conditions, such as the same floor and bill.
And (3) list following: a waybill is dispatched to a robot that is about to leave the building discharge area, at which point the robot will return to the rider discharge point.
Queue time: for describing how long a later created manifest may be placed before a previously created manifest within a time difference.
And (3) position in bins: for example, a robot has upper and lower cassettes, each with two bins. Each bin may store one item so the robot may carry 4 items.
ETA: the expected arrival time from a point to a point. The calculation mode is that the actual distance of two points is divided by the average moving speed of the robot.
The application provides a method, medium and device for scheduling a waybill of a server and a delivery robot, wherein the method, medium and device mainly have the following roles:
1. a rider: the sponsor of the delivery sheet is generally referred to as a takeaway delivery person and a courier delivery person.
2. The user: the recipient of the delivery sheet is typically referred to as a resident user within the building, such as a white-collar user, etc.
3. And (3) a robot: the carrier of the delivery bill is provided with a plurality of storage spaces for storing articles, namely: the bin is provided with the capabilities of moving, riding an elevator, passing a gate and communicating.
The delivery system includes: rider APP, user APP and scheduling system (i.e. server hereinafter). The method comprises the steps that a rider places a single call robot through a rider APP, a scheduling system receives a placing request of the rider, distributes the robot to receive the order, schedules the robot to move to a goods placing point of the rider, waits for the rider to place goods, and then completes the whole delivery process through the robot.
In this delivery mode, since no administrator performs manual manifest allocation, a dispatch system, i.e., a server, is required to perform reasonable allocation and merge and chase processing of unrefreshed manifests, thereby guiding the rider to put the manifest on the most suitable robot.
Specifically, in order to solve at least one of the above problems, the present application provides a server, and a method, medium and apparatus for scheduling a waybill of a delivery robot.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
In an embodiment of the present application, a waybill scheduling method 10 of a delivery robot is provided, as shown in fig. 1, the method 10 may be executed by a server, for example, by a cloud server, and the method 10 includes:
110. acquiring a non-placed manifest at a preset frequency, and updating the manifest list;
120. acquiring state information of each bin on a delivery robot of a rider cargo area group to form a bin list; the delivery robot comprises at least one box, each box having at least one bin for storing goods;
130. distributing the unreleased manifest in the manifest list to a target idle bin of a target delivery robot according to a preset rule;
the preset rule is as follows: the target transport floors of all bins on the delivery robot are consistent during peak hours and/or consistent during off-peak hours.
Optionally, the acquiring the status information of each bin on the delivery robot of the rider delivery area group specifically includes the following steps:
acquiring state information of all delivery robots in a building;
calculating the expected arrival time of each delivery robot returning to the preset robot delivery point;
and when the estimated arrival time is smaller than a first preset threshold value, the corresponding delivery robot is listed in the rider goods placing block, otherwise, the corresponding delivery robot is listed in the non-rider goods placing block.
Optionally, calculating an estimated arrival time of each delivery robot returning to a preset robot put point specifically includes the following steps:
acquiring a real-time distance between the delivery robot and a delivery point of the preset robot;
judging whether the real-time distance is larger than a second preset threshold value, if so, calculating the time length for the corresponding delivery robot to finish all the waybills and return to the preset robot delivery point, and taking the time length as the expected arrival time length; if not, calculating the time length of the corresponding delivery robot moving from the current point position to the preset robot placing point, and taking the time length as the expected arrival time length.
In another possible implementation manner, the method includes the steps of acquiring the unreleased manifest at a preset frequency and updating the manifest list, and specifically includes the following steps:
acquiring unreleased manifest at a preset frequency, and sorting according to the ascending order of the creation time of the unreleased manifest to generate a manifest list;
traversing the waybill list, if any one of the waybill lists has a prior non-pickup waybill of the same target transport floor within a preset queue time, moving the subsequent non-pickup waybill to the back of the prior non-pickup waybill, and updating the waybill list;
and repeating the steps until the prior unreleased bill and the later unreleased bill with the same target conveying floor do not exist in the preset queue inserting time.
Optionally, the allocating the unreleased manifest in the manifest list to the target idle bin of the target delivery robot according to a preset rule specifically includes the following steps:
s301, sequentially calling the unreleased manifest in the manifest list, traversing the bin list, calculating the estimated arrival time of the delivery robot after the unreleased manifest is allocated to the same box when the unreleased manifest with the same target transport floor exists in the same box, if the estimated arrival time is smaller than a third preset threshold value, allocating the unreleased manifest to the same box, otherwise, putting the unreleased manifest back to the manifest list, and updating the bin list;
s302, judging whether the current time is a peak time period, if so, executing S303, and if not, executing S304;
s303, re-picking the unreleased manifest in the manifest list, traversing the updated bin list, calculating the estimated arrival time of the delivery robot after the unreleased manifest is allocated to the idle box when the idle box exists and the unreleased manifest with the same target transport floor exists in other boxes, if the estimated arrival time is smaller than a third preset threshold, allocating the unreleased manifest to the idle box, otherwise, re-putting the unreleased manifest back to the manifest list, and updating the bin list;
s304, the unreported manifest in the manifest list is recalled, the updated manifest list is traversed, when an idle box exists and the number of unreported manifest in the idle box is the same as that of the unreported manifest in the target transport floor, the estimated arrival time of the delivery robot after the corresponding unreported manifest is put in the idle box is calculated, if the estimated arrival time is smaller than a third preset threshold, the corresponding unreported manifest is put in the idle box, otherwise, the unreported manifest is put back in the manifest list again, and the manifest list is updated.
The foregoing describes a waybill scheduling method of a delivery robot provided in the embodiment of the present application from a server side in conjunction with fig. 1, and the following describes in detail an actual application process of the waybill scheduling method of the delivery robot provided in the embodiment of the present application by taking a scheduling scheme as an example. The method specifically comprises the following steps:
s1, sorting unreleased waybills in the waybill list according to the ascending order of the creation time to obtain a waybill pool, as shown in FIG. 2 a.
S2, acquiring all robot lists in a building, calculating ETA of the robots returning to the preset robot put points, and dividing the robots into two groups according to whether the ETA is smaller than a first preset threshold value or not: rider drop blocks and non-rider drop blocks as shown in fig. 2 b.
If there are multiple unreplaced manifest on the robot, then the ETA calculation is divided into the following cases:
a) If the distance between the robot and the rider putting area exceeds a first preset threshold value, the ETA is calculated in a mode of passing through the sum of ETA of all the destination points of the shipping list on the body. At this time, the corresponding robot acts to return after all the waybills are distributed.
b) If the distance from the robot to the rider putting area is within a first preset threshold, the ETA is calculated in a manner of ETA from the current point position to the preset robot putting point position. At this time, the behavior of the corresponding robot is a list.
S3, acquiring state information of each bin on all robots in the building, and calculating ETA (electronic toll collection), as shown in FIG. 2 c.
In an alternative embodiment, if the robot in which the bins are located belongs to the rider-out area group, then ETA for these bins is 0; if the robot in which the bins are located belongs to a non-rider stocking area group, then ETAs of the bins are the time when the robot finishes dispensing all sheets on the body.
S4, carrying out ascending sort on the bin of the last step according to ETA time, as shown in FIG. 2 d.
And S5, sequentially taking the unreleased manifest of the manifest pool in the step S1, and traversing the bin list in the step 4. If there is a same floor placed manifest in the same box and the ETA of the placed post-order is within a third preset threshold, then placement is made as shown in fig. 2 e. If not, the distribution is not carried out, and the distribution is put into the freight cell again.
S6, sequentially taking the unreleased freight notes of the freight note pool in S5, traversing the warehouse space list in the step 4 again, judging whether the freight note is in a peak time period, such as a rush hour period or a rush hour period, if so, when an idle box exists and the unreleased freight notes with the same target transport floor exist in other boxes, calculating ETA for distributing the unreleased freight notes to the idle box, and if the ETA is within a third preset threshold, putting the ETA into the warehouse space of the idle box, otherwise, putting the ETA into the freight note pool again, as shown in FIG. 2 f.
If the ETA is not in the peak time period, and the idle boxes exist, and when the number of the idle boxes is the same as the number of the unreleased bills of which the target transportation floors are the same, the ETA after the unreleased bills are distributed to the idle boxes is calculated, if the ETA is within a third preset threshold, the ETA is put into the boxes of the idle boxes, otherwise, the ETA is put into the bill pool again.
S7, sequentially taking the waybills in the waybill pool in the S6, and sequencing according to a clustering algorithm, wherein the specific logic is as follows:
1. and carrying out ascending sort according to the creation time of the waybill.
2. For each ticket, if there is a ticket for the same floor within the queue allowable time, then the ticket is moved to the back of the ticket for the same floor.
3. The above steps are repeated until the waybills of the same floor cannot be aggregated within the time range of the queue, as shown in fig. 2 g.
S8, sequentially placing the clustered waybill results into the robot. Preferably, the waybill group which cannot be put in due to limited empty robot bins after clustering can be unpacked and put in again.
The embodiment provides the waybill scheduling method for the delivery robot, which can simulate the allocation effect of building management personnel on the waybill, can reduce the labor cost, can ensure the delivery efficiency of the robot of the site, and increases the customer satisfaction.
Based on the same inventive concept, embodiments of the present application provide a manifest scheduling apparatus of a delivery robot, as shown in fig. 3, the manifest scheduling apparatus 20 of the delivery robot may include an update module 201, an acquisition module 202 and an allocation module 203,
the update module 201 is configured to acquire an unreleased manifest at a preset frequency, and update a manifest list;
the acquiring module 202 is configured to acquire status information of each bin on the delivery robot of the rider delivery area group, and form a bin list; the delivery robot comprises at least one box, each box having at least one bin for storing goods;
the allocation module 203 is configured to allocate an unreleased manifest in the manifest list to a target idle bin of the target delivery robot according to a preset rule;
the preset rule is as follows: the target transport floors of all bins on the delivery robot are consistent during peak hours and/or consistent during off-peak hours.
Optionally, the acquiring module 202 specifically includes:
the first acquisition unit is used for acquiring state information of all delivery robots in the building;
the calculating unit is used for calculating the expected arrival time of each delivery robot returning to the preset robot put point;
and the dividing unit is used for listing the corresponding delivery robot into the rider goods-placing granules when the expected arrival time is smaller than a first preset threshold value, or listing the corresponding delivery robot into the non-rider goods-placing granules.
Optionally, the computing unit is specifically configured to:
acquiring a real-time distance between the delivery robot and a delivery point of the preset robot;
judging whether the real-time distance is larger than a second preset threshold value, if so, calculating the time length for the corresponding delivery robot to finish all the waybills and return to the preset robot delivery point, and taking the time length as the expected arrival time length; if not, calculating the time length of the corresponding delivery robot moving from the current point position to the preset robot placing point, and taking the time length as the expected arrival time length.
Optionally, the updating module 201 is specifically configured to:
acquiring unreleased manifest at a preset frequency, and sorting according to the ascending order of the creation time of the unreleased manifest to generate a manifest list;
and traversing the waybill list, if any one of the waybill lists has a prior non-placed waybill with the same target transportation floor in the preset queue time, moving the subsequent non-placed waybill to the back of the prior non-placed waybill, and updating the waybill list until the prior non-placed waybill with the same target transportation floor and the subsequent non-placed waybill do not exist in the preset queue time.
Optionally, the distribution module 203 specifically includes:
the first allocation unit is used for sequentially retrieving the unreported bills in the bill list and traversing the warehouse space list, when the unreported bills with the same target transport floors exist in the same box, calculating the estimated arrival time of the delivery robot after the unreported bills are allocated to the same box, if the estimated arrival time is smaller than a third preset threshold value, allocating the unreported bills to the same box, otherwise, putting the unreported bills back to the bill list, and updating the warehouse space list;
the second allocation unit is used for judging whether the current time period is a peak time period, if so, re-calling the unreleased bill in the bill list, traversing the updated warehouse space list, when an idle box exists and the unreleased bill with the same target transport floor exists in other boxes, calculating the estimated arrival time of the delivery robot after the unreleased bill is allocated to the idle box, if the estimated arrival time is smaller than a third preset threshold, allocating the unreleased bill to the idle box, otherwise, re-putting the unreleased bill back to the bill list, and updating the warehouse space list; if not, the unrefreighted manifest in the manifest list is recalled, the updated manifest list is traversed, when an idle box exists and the number of the unrefreighted manifest in the idle box is the same as that of the unrefreighted manifest in the target conveying floor, the estimated arrival time of the delivery robot after the corresponding unrefreighted manifest is put into the idle box is calculated, if the estimated arrival time is smaller than a third preset threshold, the corresponding unrefreighted manifest is put into the idle box, otherwise, the unrefreighted manifest is put back into the manifest list again, and the manifest list is updated.
The details of the apparatus 20 provided in the embodiment of the present application may refer to the method 10 provided in the above embodiment, and the beneficial effects that the apparatus 20 provided in the embodiment of the present application can achieve are the same as those of the method 10 provided in the above embodiment, and are not repeated here.
Based on the same inventive concept, the embodiments of the present application also provide a server, as shown in fig. 4, the server 30 includes: a memory 301, a transceiver 302, and one or more processors 303. One processor 303 is illustrated in fig. 3. A transceiver 302 for transceiving data under the control of a processor 303.
The processor 303 and the memory 301 may be connected by a bus or other means. The memory 301, which is a non-volatile computer readable storage medium, may be used to store a non-volatile software program, a non-volatile computer executable program, and a module, such as a program instruction/module corresponding to the cloud scheduling method of the delivery robot in the embodiment of the present invention. The processor 303 executes various functional applications and data processing of the waybill scheduler 20 of the delivery robot by running non-volatile software programs, instructions and modules stored in the memory 301, i.e., to implement the functions of the waybill scheduling method 10 of the delivery robot and the various modules or units of the embodiments of the device 20 provided by the method embodiments described above.
It should be appreciated that in the above embodiments, the memory 301 may include high speed random access memory, but may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 301 may optionally include memory located remotely from processor 303, which may be connected to processor 303 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. Transceiver 302 may be a number of elements, including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium, including wireless channels, wired channels, optical cables, etc.
The program instructions/modules are stored in the memory 301, which when executed by the one or more processors 303, perform the waybill scheduling method of the delivery robot in an embodiment corresponding to any of the methods 10 described above.
Embodiments of the present invention also provide a non-transitory computer storage medium storing computer executable instructions for execution by one or more processors, such as the one processor 303 of fig. 3, to cause the one or more processors to perform the method of dispatch of a waybill for a delivery robot in any of the method embodiments described above.
Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by an electronic device, cause the electronic device to perform the method of waybill scheduling for a delivery robot of any of the above.
The above-described apparatus or device embodiments are merely illustrative, in which the unit modules illustrated as separate components may or may not be physically separate, and the components shown as unit modules may or may not be physical units, may be located in one place, or may be distributed over multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method of the respective embodiments or some parts of the embodiments.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. A method of dispatch of a waybill for a delivery robot comprising the steps of:
acquiring a non-placed manifest at a preset frequency, and updating the manifest list;
acquiring state information of each bin on a delivery robot of a rider cargo area group to form a bin list; the delivery robot comprises at least one box, each box having at least one bin for storing goods;
distributing the unreleased manifest in the manifest list to a target idle bin of a target delivery robot according to a preset rule;
the preset rule is as follows: the target transport floors of all bins on the delivery robot are consistent and/or the target transport floors of all bins in the same box on the delivery robot are consistent in the peak time period and the off-peak time period;
the method for distributing the unreleased manifest in the manifest list to the target idle bin of the target delivery robot according to the preset rule specifically comprises the following steps:
s301, sequentially calling the unreleased manifest in the manifest list, traversing the bin list, calculating the estimated arrival time of the delivery robot after the unreleased manifest is allocated to the same box when the unreleased manifest with the same target transport floor exists in the same box, if the estimated arrival time is smaller than a third preset threshold value, allocating the unreleased manifest to the same box, otherwise, putting the unreleased manifest back to the manifest list, and updating the bin list;
s302, judging whether the current time is a peak time period, if so, executing S303, and if not, executing S304;
s303, re-picking the unreleased manifest in the manifest list, traversing the updated bin list, calculating the estimated arrival time of the delivery robot after the unreleased manifest is allocated to the idle box when the idle box exists and the unreleased manifest with the same target transport floor exists in other boxes, if the estimated arrival time is smaller than a third preset threshold, allocating the unreleased manifest to the idle box, otherwise, re-putting the unreleased manifest back to the manifest list, and updating the bin list;
s304, the unreported manifest in the manifest list is recalled, the updated manifest list is traversed, when an idle box exists and the number of unreported manifest in the idle box is the same as that of the unreported manifest in the target transport floor, the estimated arrival time of the delivery robot after the corresponding unreported manifest is put in the idle box is calculated, if the estimated arrival time is smaller than a third preset threshold, the corresponding unreported manifest is put in the idle box, otherwise, the unreported manifest is put back in the manifest list again, and the manifest list is updated.
2. The method for scheduling the waybill of the delivery robot according to claim 1, wherein the step of acquiring the status information of each bin on the delivery robot of the rider's delivery area group comprises the following steps:
acquiring state information of all delivery robots in a building;
calculating the expected arrival time of each delivery robot returning to the preset robot delivery point;
and when the estimated arrival time is smaller than a first preset threshold value, the corresponding delivery robot is listed in the rider goods placing block, otherwise, the corresponding delivery robot is listed in the non-rider goods placing block.
3. The method for scheduling a waybill for a delivery robot according to claim 2, wherein calculating the estimated arrival time of each delivery robot returning to the preset robot pick-up point comprises the steps of:
acquiring a real-time distance between the delivery robot and a delivery point of the preset robot;
judging whether the real-time distance is larger than a second preset threshold value, if so, calculating the time length for the corresponding delivery robot to finish all the waybills and return to the preset robot delivery point, and taking the time length as the expected arrival time length; if not, calculating the time length of the corresponding delivery robot moving from the current point position to the preset robot placing point, and taking the time length as the expected arrival time length.
4. A method for scheduling a manifest of a delivery robot according to any one of claims 1 to 3, wherein the steps of acquiring the manifest of the unreleased delivery at a preset frequency and updating the manifest list include:
acquiring unreleased manifest at a preset frequency, and sorting according to the ascending order of the creation time of the unreleased manifest to generate a manifest list;
traversing the waybill list, if any one of the waybill lists has a prior non-pickup waybill of the same target transport floor within a preset queue time, moving the subsequent non-pickup waybill to the back of the prior non-pickup waybill, and updating the waybill list;
and repeating the steps until the prior unreleased bill and the later unreleased bill with the same target conveying floor do not exist in the preset queue inserting time.
5. A waybill scheduling device of a delivery robot is characterized by comprising an updating module, an acquiring module and an allocating module,
the updating module is used for acquiring the unreleased manifest at a preset frequency and updating the manifest list;
the acquisition module is used for acquiring the state information of each bin on the delivery robot of the rider cargo area group to form a bin list; the delivery robot comprises at least one box, each box having at least one bin for storing goods;
the allocation module is used for allocating the unreleased manifest in the manifest list to a target idle bin of the target delivery robot according to a preset rule;
the preset rule is as follows: the target transport floors of all bins on the delivery robot are consistent and/or the target transport floors of all bins in the same box on the delivery robot are consistent in the peak time period and the off-peak time period;
the distribution module specifically comprises:
the first allocation unit is used for sequentially retrieving the unreported bills in the bill list and traversing the warehouse space list, when the unreported bills with the same target transport floors exist in the same box, calculating the estimated arrival time of the delivery robot after the unreported bills are allocated to the same box, if the estimated arrival time is smaller than a third preset threshold value, allocating the unreported bills to the same box, otherwise, putting the unreported bills back to the bill list, and updating the warehouse space list;
the second allocation unit is used for judging whether the current time period is a peak time period, if so, re-calling the unreleased bill in the bill list, traversing the updated warehouse space list, when an idle box exists and the unreleased bill with the same target transport floor exists in other boxes, calculating the estimated arrival time of the delivery robot after the unreleased bill is allocated to the idle box, if the estimated arrival time is smaller than a third preset threshold, allocating the unreleased bill to the idle box, otherwise, re-putting the unreleased bill back to the bill list, and updating the warehouse space list; if not, the unrefreighted manifest in the manifest list is recalled, the updated manifest list is traversed, when an idle box exists and the number of the unrefreighted manifest in the idle box is the same as that of the unrefreighted manifest in the target conveying floor, the estimated arrival time of the delivery robot after the corresponding unrefreighted manifest is put into the idle box is calculated, if the estimated arrival time is smaller than a third preset threshold, the corresponding unrefreighted manifest is put into the idle box, otherwise, the unrefreighted manifest is put back into the manifest list again, and the manifest list is updated.
6. The waybill scheduling device of the delivery robot of claim 5, wherein the acquisition module specifically comprises:
the first acquisition unit is used for acquiring state information of all delivery robots in the building;
the calculating unit is used for calculating the expected arrival time of each delivery robot returning to the preset robot put point;
and the dividing unit is used for listing the corresponding delivery robot into the rider goods-placing granules when the expected arrival time is smaller than a first preset threshold value, or listing the corresponding delivery robot into the non-rider goods-placing granules.
7. The waybill scheduling device of a delivery robot of claim 6, wherein the computing unit is specifically configured to:
acquiring a real-time distance between the delivery robot and a delivery point of the preset robot;
judging whether the real-time distance is larger than a second preset threshold value, if so, calculating the time length for the corresponding delivery robot to finish all the waybills and return to the preset robot delivery point, and taking the time length as the expected arrival time length; if not, calculating the time length of the corresponding delivery robot moving from the current point position to the preset robot placing point, and taking the time length as the expected arrival time length.
8. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the waybill scheduling method of a delivery robot according to any one of claims 1-4.
9. A server, comprising: a processor, a transceiver, and a computer readable storage medium as recited in claim 8, wherein the transceiver is configured to receive and transmit data under control of the processor;
the processor, when executing a computer program on the computer readable storage medium, implements the steps of the waybill scheduling method of a delivery robot according to any one of claims 1-4.
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| CN114442608B (en) * | 2021-12-21 | 2024-06-14 | 北京未末卓然科技有限公司 | Office building logistics robot and control method thereof |
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