CN113902177A

CN113902177A - Task allocation method and system

Info

Publication number: CN113902177A
Application number: CN202111126343.9A
Authority: CN
Inventors: 郭双; 张飞; 万永辉
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-01-07

Abstract

The application provides a task allocation method, which comprises the following steps: s11, acquiring the task to be processed and the current working period of the robot; and S12, processing the matched target robot for the task to be processed from the matched robots according to the current working time period and the corresponding preset strategy. According to the task allocation method and system, the tasks to be processed can be accumulated and the like according to the current working time period of the robot and a preset strategy, the optimal available machine is dynamically calculated based on optimal time and distance or a fixed matching strategy, when the running state of the robot changes, workers are timely reminded to plan new available equipment at the same time, the dispatching efficiency of the robot is improved, and unnecessary resource waste is reduced.

Description

Task allocation method and system

Technical Field

The application relates to the field of intelligent robots, in particular to a task allocation method and system.

Background

When the existing intelligent robot system carries out order distribution, the existing system queries available machines through an applet query machine according to the idle state of the machines as a condition for dispatching task orders, and automatically dispatches the machines to receive tasks.

The problems existing in the prior art are as follows: in the process of task allocation, the current working time of the robot is not considered, for example, whether the robot is busy at present, and the task is processed and allocated according to a unique strategy, so that the problems that the order allocation of the robot is slow in an idle time or the utilization rate of the task robot is low in a peak time are easily caused, and particularly, the overall task processing efficiency is often low in a situation that an inline building such as a large-scale shopping mall and a hotel provided with a plurality of robots needs to be scheduled across buildings.

The foregoing description is provided for general background information and is not admitted to be prior art.

Disclosure of Invention

In order to solve the problems, the application provides a task allocation method and a task allocation system.

In view of the above technical problem, the present application provides a task allocation method, where the method includes:

s11, acquiring the task to be processed and the current working period of the robot;

and S12, processing the matched target robot for the task to be processed from the matched robots according to the current working time period and the corresponding preset strategy.

Optionally, if the current working period is an idle period, the step S12 includes:

and when one task to be processed is obtained, processing the matched target robot for the task to be processed from the matched robots according to a first matching strategy.

Optionally, if the current working period is a non-idle period, the step S12 includes:

accumulating the acquired tasks to be processed according to a task accumulation strategy;

and matching the target robot for the accumulated tasks to be processed from the matchable robots according to a second matching strategy.

Optionally, the task to be processed is a task to be processed in an inline building, and before the step S12, the method includes:

obtaining the task accumulation strategy according to preset conditions, wherein the preset conditions comprise: at least one of the number of buildings, the number of building connected areas, the type of the robot, the number of the robots and historical task information.

Optionally, before the step S12, the method further includes:

acquiring electric quantity information of the robot;

judging whether the robot can complete the task to be processed or not based on the electric quantity information;

and if so, taking the robot as a matched robot.

Optionally, before the step S12, the method further includes:

if the matched task of the robot is cancelled or interrupted, determining the robot as a robot which can be matched; and/or the presence of a gas in the gas,

and if the predicted ending time of the robot from the current task is less than a set threshold value, determining the robot as a matched robot.

Optionally, the matching the target robot for the accumulated tasks to be processed from the matchable robots according to the second matching strategy comprises:

judging whether multiple groups of matching schemes exist in the accumulated tasks to be processed, if so, judging whether the multiple groups of matching schemes exist:

calculating the sum of the lengths of the planned paths corresponding to each group of matching schemes and/or the sum of priority values;

selecting a target matching scheme from the matching schemes according to the sum of the lengths and/or the sum of the priority values;

and distributing the accumulated tasks to be processed to corresponding target robots for task processing according to the target matching scheme.

Optionally, the priority value of the planned path is obtained in advance according to at least one of the following: the number of times that the robot needs to take the elevator, the number of times that the robot needs to pass through a communication area, the task state of the robot and the utilization rate of the robot.

The present application further provides a task allocation system, the system comprising: a memory, a processor, a robot, wherein,

the memory is stored with a task allocation program, and the task allocation program realizes the steps of the task allocation method when being executed by the processor;

and the robot executes the task according to the result of the processor executing the task allocation.

The present application further provides a task allocation system, the system comprising:

the acquisition module acquires a task to be processed and the current working period of the robot;

a processing module which processes the matched target robot for the task to be processed from the matched robots according to the current working period and the corresponding preset strategy,

and the robot is used for processing the matched task to be processed according to the matching result of the processing module.

As described above, the task allocation method and system provided by the application can perform corresponding processing such as accumulation and the like on the tasks to be processed according to the current working time period of the robot and a preset strategy, dynamically calculate the optimal available machine based on optimal time and distance or according to a fixed matching strategy, and timely remind the staff to plan new available equipment at the same time when the running state of the robot changes, thereby improving the scheduling efficiency of the robot and reducing unnecessary resource waste.

Drawings

Fig. 1 is a schematic flowchart of a task allocation method provided in the present application in an embodiment;

FIG. 2 is a schematic flowchart illustrating a task allocation method according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram illustrating an exemplary embodiment of a task allocation system;

fig. 4 is a schematic diagram of an inline building in which an application scenario provided by the present application is partial floor connectivity in an embodiment.

FIG. 5 is a flowchart illustrating a task allocation method according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a task allocation system provided in the present application in an embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or," "and/or," "including at least one of the following," and the like, as used herein, are to be construed as inclusive or mean any one or any combination. For example, "includes at least one of: A. b, C "means" any of the following: a; b; c; a and B; a and C; b and C; a and B and C ", again for example," A, B or C "or" A, B and/or C "means" any of the following: a; b; c; a and B; a and C; b and C; a and B and C'. An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It should be noted that step numbers such as S1 and S2 are used herein for the purpose of more clearly and briefly describing the corresponding content, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform S4 first and then S3 in specific implementation, which should be within the scope of the present application.

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module", "component" or "unit" may be used mixedly.

When the existing intelligent robot system carries out order distribution, particularly when the robots are distributed in different floors and space positions in an interconnected building, the existing system queries available machines through a small program inquiry machine according to the idle state of the machines as the condition for dispatching task orders and automatically dispatches the machines to receive tasks.

In an embodiment of the present application, in the prior art, when a task to be processed is received, a robot in an idle state is searched for task allocation immediately according to a working state of a current robot, so that in a working non-idle period, since the robots may have been matched with previous tasks one by one, the number of available robots is small, and task processing efficiency is low.

The task allocation method proposed in the present application is described in detail below with reference to examples.

In view of the above technical problem, fig. 1 is a schematic flowchart of a task allocation method provided by the present application, where the method includes:

In an embodiment of the application, matching the to-be-processed task with the robot according to a corresponding preset strategy by acquiring the current to-be-processed task information and the current working period of the robot according to the current working period of the robot, in the case of an embodiment, acquiring the current to-be-processed task information may be performed in a front-end acquisition mode, for example, a client, and a client orders the to-be-processed task by client software installed at one end of an electronic device such as a mobile phone, a pad, and the like; and the related to-be-processed task input by the user can be acquired in a back-end mode by inputting related task information through back-end operation by the user. In this embodiment, the current working period is used to represent the busy degree of the robot in the whole scene of the current time period, and may be obtained according to the historical task information and the current time, or determined according to the states of all the robots at present. For example, the robot serves hotels, shopping malls and other places, belongs to an idle state at a time period of 7:00-10:00 in the morning, belongs to a non-idle time period at a time period of 11:00-22:00, and processes the tasks to be processed according to corresponding preset strategies according to different time periods.

That is to say, compared with the prior art in which the task to be processed is allocated according to a unique policy, the present embodiment takes the influence of the current working period into consideration, and selects the corresponding preset policy according to the current working period, so as to improve the overall task processing efficiency.

In an embodiment of the present application, such as the above-mentioned strategy of the task to be processed when the working period of the robot is the idle period, each time one task to be processed is acquired, the matching robot is matched from the matchable robots to be processed, for example, 10 robots are actually reserved in a restaurant, and in the idle period, the working robot has only 7 robots, and when the task to be processed is received, the matching corresponding robot from the remaining 3 matchable robots is matched to process the acquired task.

In this embodiment, the preset policy includes a task processing policy and a matching policy, and the task processing policy is a task-by-task processing, that is, the task is not accumulated in an idle period, so that the idle robot is fully utilized to improve the task processing efficiency.

As shown in fig. 2, in the flowchart of the task matching method provided by the present application, if the current working period is a non-idle period, the step S12 includes:

s121, accumulating the acquired tasks to be processed according to the task accumulation strategy;

and S122, matching the target robot for the accumulated tasks to be processed from the matchable robots according to a second matching strategy.

In this embodiment, in a non-idle period, the acquired to-be-processed tasks are accumulated according to the task accumulation policy. It can be understood that in the non-idle period, the number of the matchable robots is generally less, and by performing matching after accumulating, more tasks can be completed by more effectively utilizing the matchable robots according to the information of the tasks to be processed, such as whether the destinations are the same, so that the tasks are prevented from being unprocessed for a long time.

In one embodiment of the application, when the working period of the robot is a non-idle period, such as a period of 11:00-22:00, for example, the matchable robot is less available because the robot is in the non-idle period. In this case, the tasks to be processed are accumulated, and by accumulation, the tasks can be collectively distributed after a plurality of pieces of information on the tasks to be processed are collected. Therefore, after relatively more and more intensive tasks to be processed are available, the target robots are matched in a centralized mode, one robot can be matched with a plurality of tasks conveniently, and the capacity utilization rate of the robot and the processing efficiency of the tasks to be processed are improved.

In the case of an embodiment, according to the number of buildings served by the robot, for example, when the task accumulation amount of one building is 3 at most, the accumulation amount of the task to be processed can be increased by one time for each building; the number of the communication areas between the buildings can also be determined, for example, two buildings exist in the middle of the building, namely, the accumulation of tasks to be processed can be correspondingly reduced on the basis of the one-time increment; similarly, the single cumulative number of the tasks to be processed in the current working period can be comprehensively decided according to the type of the service robot, the number of the robots, the historical tasks and other information.

After the tasks to be processed are accumulated and when the corresponding robots need to be matched, the robots can be matched for each accumulated task to be processed for processing by referring to the second matching strategy. The second matching policy may be the same as or different from the first matching policy. For example, the second matching strategy may be to match the corresponding robot according to the shortest distance principle. At this time, since the matching process is performed on a plurality of accumulated tasks to be processed, there is a possibility that a plurality of tasks are matched to the same robot, and if the robot capacity permits, the robot can be used as a target robot for a plurality of tasks.

Optionally, before the step S12, the method further includes:

acquiring electric quantity information of the robot;

and if so, taking the robot as a matched robot.

In an embodiment of the application, before the task to be processed matches the target robot, it is still judged whether the electric quantity information of the robot can support and complete the current task to be processed, specifically, the electric quantity information of the robot can be obtained in real time, or when the robot is matched, the electric quantity information of the currently available robot is obtained, the distance that the current electric quantity of the robot can travel is calculated, or the running time of the support and the like, it is judged whether the robot can complete the current task to be processed, if the task to be processed can be completed, the robot can be matched, if the task cannot be completed, the robot is controlled to perform charging operation.

In this embodiment, screening can match the robot to available robot through electric quantity information, can guarantee that the electric quantity of robot is enough to accomplish the task of treating that corresponds, avoids the electric quantity not enough midway, influences the task execution scheduling problem.

Optionally, before the step S12, the method further includes:

In an embodiment of the application, in the process of executing a current task by a robot, if information for canceling or interrupting the task is received, the state of the robot is changed into a matchable robot, which can be used for matching the task to be processed, where the information for canceling or interrupting the task may be triggered by a client through a client, triggered by a service person through a background, or triggered by some other emergency situations, such as collision and abnormal electric quantity information, and only explanation is provided here.

In the embodiment, the state information of the robot currently processing the task is acquired, the robots meeting the conditions are screened and processed to be used as the available robots, the number of the available robots in the non-idle period is increased, and the processing efficiency of the task in the non-idle period is improved.

By comprehensively considering the length and the priority value of the planned path, a better target matching scheme can be more accurately selected, and the overall task execution efficiency is improved.

In an embodiment of the application, for a second matching strategy in a non-idle period, for an accumulated task to be processed, when multiple matching schemes occur, the total length of a planned path that the robot needs to travel in each matching scheme needs to be calculated, where the total length includes the path length of the robot on the same floor, the length of going up and down to ride a ladder, the length of the robot needing to pass through a communication area, and the like; the total priority value of the matching scheme is calculated; and judging by combining the total length of the planned path and the corresponding total priority value.

By setting the priority values in advance, the sum of the priority values of the planned paths can be calculated conveniently and rapidly, the time required for obtaining the target matching scheme is reduced, and the task allocation efficiency is improved.

For example, when the sum of the priority values is smaller, the better the scheme is, if the influence factor of the priority value includes the number of times that the robot needs to take the elevator, the smaller the number of times that the robot needs to take the elevator corresponding to the planned path is, the smaller the priority value is; if the influence factors of the priority value comprise the number of times that the robot needs to pass through the communication area, the smaller the number of times that the robot passes through the communication area, the smaller the priority value, and the problems that the signal difference of the robot is difficult to position, the robot is narrow and difficult to pass through and the like exist in the communication area, and the method of the embodiment can be more suitable for task allocation and robot scheduling among multiple buildings of multiple internally communicated buildings by considering the number of times that the robot passes through the communication area; if the influence factors of the priority value comprise the task state of the robot, the priority value of the matching scheme corresponding to the robot which is still executing the task is large; if the influence factor of the priority value comprises the utilization rate of the robot, the higher the capacity utilization rate of the robot is, the smaller the priority value is for the matching scheme.

For example, in an embodiment mode, for example, the priority value of priority 1 is 1, the priority value of priority 2 is 3, and the priority value of priority 3 is 4, such as there are 3 pending tasks currently, one matching scheme is: priority 1+ priority 2+ priority 3, total priority value 8; the other matching scheme is as follows: and if the total priority value is 9, selecting a first matching scheme. For another example, if there are currently 3 tasks to be processed, the total path length of one matching scheme is 10, and the total path length of the other matching scheme is 11, then the first matching scheme is selected.

Preferably, the sum of the priority values is calculated, when the sum of the priority values is different, the matching scheme with the minimum priority value is taken as the target matching scheme, when the sum of the priority values is the same, the sum of the lengths of the planned paths is calculated, and the sum of the lengths is taken as the target matching scheme.

Alternatively, when the robot which is executing the task is less than a set threshold, for example, 3 minutes, from the expected time of the task ending, and the matching scheme including the robot is optimal, for example, the priority level is 1, that is, the priority value is the smallest, the matching can be successfully performed. Further optimizing the matching scheme, avoiding excessive waiting and having low efficiency.

Optionally, in a non-idle state, the to-be-processed task which is not successfully matched is manually dispatched, or the next accumulated post-processing matching is waited, and the matching is preferentially performed in the next matching, so that the waiting time of the user is reduced.

Fig. 3 is a schematic structural diagram of a task allocation system provided in the present application, where the system includes:

In another embodiment of the present application, when receiving a task to be processed, if the operation of the robot is in a non-idle state at this time, the task to be processed may be classified and accumulated according to a task accumulation policy, such as accumulating related information of the system currently, for example, accumulating tasks on the same floor, accumulating tasks on the same building according to a certain time period, for example, accumulating ten minutes, similarly accumulating tasks according to a set number, for example, accumulating 3 tasks, or the classification and accumulation manner may be comprehensive, for example, accumulating tasks on the same floor according to a certain time period, or accumulating tasks on the same building according to a set number, in summary, the tasks may be accumulated according to different categories of the tasks, such as a food delivery task, and a disinfection task, and the like, and the manner of classifying and accumulating is not described herein again, and no particular limitation is imposed on the manner of accumulating the tasks to be processed, and the manner of accumulating the tasks to be processed is considered to be within the scope of the present application. In the embodiment of the application, when the tasks are accumulated to a certain magnitude, or the accumulated period reaches a set period, the robot corresponding to the task to be processed needs to be processed according to the current robot working state and a preset strategy.

In an embodiment of the application, the preset policy may include a matching policy, and the matching policy may be to match a robot with a shortest distance to the to-be-processed task location; or the robot with the shortest time for reaching the task place to be processed can be matched.

As shown in fig. 4, an application scenario of the embodiment is an inline building schematic diagram with partial floor communication, where: A. b, C three buildings are communicated with each other at the B1 level, the A-B levels are communicated with each other at the 3 rd level, and the B-C levels are communicated with each other at the 4 th level. In the embodiment of the present application, the preset policy may also be a preset fixed matching policy, for example, a robot on the same floor is preferentially matched, for example, the floor L1 and the floor L2, where the same floor is not limited to the same building, and in the case that the floors across the building are on the same floor and are connected, the robot on the same floor is also preferentially matched, for example, the floor B1 is connected to the A, B, C building; when there are no matchable robots on the same floor, for example, robots in the same building, i.e., different floors, can be selected for task processing, such as

floors

1F and 4F of building a; when there is no robot that can be matched on the same floor or building, for example, robots in different buildings can also be selected for task matching processing.

In an embodiment of the application, when a task to be processed is received, if the working time period of the robot is an idle time period, matching a corresponding target robot for task processing every time the task to be processed is received, at this time, matching can be performed according to the robot closest to the location of the task to be processed, or a robot which has the shortest time to travel to the task location can be selected for matching, and when resources are relatively sufficient, the idle robot can be randomly matched.

When the current working period of the robot is a non-idle period, certain tasks to be processed can be accumulated according to a certain task accumulation strategy, and then the corresponding robot is matched according to a second matching strategy, for example, according to the same-floor priority 1, the same-floor different-floor priority 2 and the cross-floor priority 3; in this embodiment, when a plurality of pending tasks, for example, three pending tasks, are received, for this case, there may be a plurality of matching schemes, for example, the first matching scheme is: priority 1+ priority 2+ priority 3; the second matching scheme is as follows: in the case of priority 2+ priority 2, when multiple matching schemes occur, the sum of the priority values of each scheme is calculated, for example, if the priority value of priority 1 is 1, the priority value of priority 2 is 3, the priority value of priority 3 is 4, the priority total value of first matching scheme is 8, and the priority total value of second matching scheme is 9, then first matching scheme is selected for matching, although here, only the matching scheme is determined with the lowest priority total value, the method is also applicable to the mode of determining the matching scheme with the highest priority total value, and is not particularly limited again. In another embodiment, when there is a case where the total value of priority of multiple matching schemes is the same, the power information of each robot in the matching schemes may be further obtained, and it is determined whether the remaining power of the robot can support and complete the task to be processed, or it is determined whether the power consumption of the robot can support and complete the task to be processed, if so, the corresponding matching scheme is selected; if not, removing the corresponding matching scheme.

Optionally, the distance and/or time to the location of the task to be processed includes at least one of the following:

distance and/or time of the same layer;

distance and/or time of different layers;

distance across the building and/or time.

Optionally, the method further includes:

acquiring electric quantity information of the robot;

the step S12 further includes:

judging whether the robot can complete the corresponding task or not based on the electric quantity information;

and if so, taking the robot as the robot to be matched.

In another embodiment, when the robot and the task to be processed are located on the same floor, the moving time on the same floor needs to be calculated when the corresponding robot is determined in such a way that the time to reach the task to be processed is the shortest; when the robot and the task to be processed are on different floors, calculating the moving time between the upper layer and the lower layer besides the moving time of the same floor; in another case, when the robot and the task to be processed are in different buildings and belong to different floors, the movement time of the same floor and the movement time of the upper and lower floors need to be calculated, and the movement time between the different buildings needs to be calculated; when the movement time of the upper and lower floors is calculated, the movement time needs to be supplemented correspondingly according to the busy state of the elevator so as to achieve the true and correct information state as much as possible. In an embodiment, when there are multiple matching robots with the same moving time, a final matching robot may be determined in a manner of determining or determining electric quantity information of the robot based on the shortest distance or a fixed matching policy.

Optionally, the method further includes:

if the task received by the robot is cancelled or interrupted, determining the robot as a matchable robot; and/or the presence of a gas in the gas,

and if the end time of the executed task of the robot and the preset time are less than the set threshold value, determining the robot as a robot capable of being matched.

In one embodiment of the application, when a task canceling instruction is received, if a corresponding robot is matched, the robot which has received the task is controlled to cancel task execution, or the task execution is interrupted, and the robot is determined as a robot which can be matched with the task again; in another embodiment, when the distance between the robot that has performed the task and the task ending point is less than the set distance threshold, the robot is determined to be a matchable robot, or when the estimated task ending time and the predetermined time that have performed the task are less than the set time threshold, the robot is determined to be a matchable robot, for example, when the estimated completion time of the executed task is 12:30 and the predetermined time is 12:35, and the set time threshold is 10 minutes, the estimated time is 5 minutes different from the predetermined time and is less than the set time threshold, the robot can be determined to be a matchable robot.

Optionally, when the end time of the executed task of the robot and the preset time are less than a set threshold, if the robot and the task to be processed meet a preset policy, the robot and the task to be processed are matched.

In an embodiment of the application, when a robot that is about to complete a task is determined to be a robot that can be matched, if the robot and the task to be processed meet the shortest distance, or the shortest moving time, or meet a fixed matching policy at this time, the corresponding task to be processed is matched according to the state of the current robot and the corresponding meeting condition.

Fig. 5 is a schematic flow chart of a task allocation method provided in the present application, where the method includes:

s21, inputting at least one task to be processed;

and S22, outputting at least one target robot according to a preset strategy for selection so as to process the task to be processed.

In an embodiment of the application, when a task to be processed is generated, a user is required to input the task to the task allocation system, the system performs calculation according to received task information, matches at least one piece of information of the robot to be selected for output, and determines the matched robot to perform execution processing on the task to be processed according to selection designation input by the received user.

Optionally, the preset policy includes at least one of the following:

matching the robots reaching the to-be-processed task places with the preset distance;

matching the robot with the time of reaching the task place to be processed meeting the preset time;

and a preset fixed matching strategy.

Optionally, the fixed matching policy is:

if the robot and the task to be processed are in the same layer, matching the robot in the same layer;

if the matched robot does not exist in the same floor, the robots in different floors of the same building are matched;

and if the matched robot does not exist in the same building, matching the robot in the cross-building state.

Optionally, when the preset policy is a fixed matching policy, and when there are at least two allocation schemes, the step S22 further includes:

calculating the priority value of each matching scheme;

and outputting the robot with the priority value meeting the preset priority value.

distance and/or time of the same layer;

distance and/or time of different layers;

distance across the building and/or time.

In one scenario, when the working period of the robot is a non-idle period, after a task to be processed input by a user is received, the robot to be selected can be output according to a preset matching strategy under the condition that the task is not accumulated, namely, the corresponding robots are matched according to the same-floor priority 1, the same-floor priority 2 and the cross-floor priority 3; in this embodiment, when a plurality of pending tasks are received, for example, three pending tasks, for this case, if there is no idle robot, there may be a plurality of matching schemes, for example, the first matching scheme is: priority 1+ priority 2+ priority 3; the second matching scheme is as follows: in the case of priority 2+ priority 2, when multiple matching schemes occur, a total priority value of each scheme is calculated, for example, if the priority value of priority 1 is 1, the priority value of priority 2 is 3, the priority value of priority 3 is 4, the priority value of first matching scheme is 8, and the priority value of second matching scheme is 9, then first matching scheme is selected for matching, although the matching scheme is determined only with the lowest total priority value, the method is also applicable to a mode of determining the matching scheme with the highest total priority value, and is not particularly limited herein. In another embodiment, when there is a case where the total value of priority of multiple matching schemes is the same, the power information of each robot in the matching schemes may be further obtained, and it is determined whether the remaining power of the robot can support and complete the task to be processed, or it is determined whether the power consumption of the robot can support and complete the task to be processed, if so, the corresponding matching scheme is selected; if not, removing the corresponding matching scheme.

In another scenario, when the working period of the current robot is a non-idle period, after a user inputs a task to be processed, corresponding queuing prompt information, the queuing condition of the current task and the like are output, so that the user can know the task progress at any time.

Optionally, the method further includes:

and inputting a canceling or interrupting instruction to cause the robot which has received the task to cancel or interrupt the task processing.

In an embodiment of the application, a user can issue a cancel instruction to an already allocated task or issue an interrupt instruction to an already executed task according to a requirement, so as to control the corresponding robot to cancel or interrupt the task processing, and after the robot cancels or interrupts the task, the robot performs task matching again according to a preset strategy to be used as the robot to be selected to output.

As shown in fig. 6, the present application also provides a task allocation system, which includes: a memory, a processor, a robot, wherein,

the memory is stored with a task allocation program, and the task allocation program realizes the step of the task allocation method when being executed by the processor;

In the embodiment of the application, a user can directly operate and input the task to be processed in the task allocation system, so that the system can match the corresponding robot to process according to the task to be processed according to the preset strategy; the user can also input the task to be processed through computer equipment such as a mobile phone, a pad, a computer and the like; specifically, when a user inputs a task to be processed, the user can use a more convenient voice input mode besides inputting through manual operation, so that the user can conveniently input the task while the direct contact between the user and the computer equipment is reduced.

Those skilled in the art will appreciate that the processes for implementing the task assigning method according to the embodiments described above can be implemented by a computer program that can be stored in a non-volatile computer-readable storage medium and that, when executed, can include the processes according to the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

In the present application, the same or similar term concepts, technical solutions and/or application scenario descriptions will be generally described only in detail at the first occurrence, and when the description is repeated later, the detailed description will not be repeated in general for brevity, and when understanding the technical solutions and the like of the present application, reference may be made to the related detailed description before the description for the same or similar term concepts, technical solutions and/or application scenario descriptions and the like which are not described in detail later.

In the present application, each embodiment is described with emphasis, and reference may be made to the description of other embodiments for parts that are not described or illustrated in any embodiment.

The technical features of the technical solution of the present application may be arbitrarily combined, and for brevity of description, all possible combinations of the technical features in the embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present application should be considered as being described in the present application.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present application.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. A method of task allocation, the method comprising:

2. The method as claimed in claim 1, wherein if the current operating period is an idle period, the step S12 includes:

3. The method as claimed in claim 1, wherein if the current operating period is a non-idle period, the step S12 includes:

4. The method of claim 3, wherein the pending task is a pending task within an inline building, prior to the step of S12, comprising:

5. The method according to any one of claims 1 to 4, wherein the step of S12 is preceded by the step of:

acquiring electric quantity information of the robot;

and if so, taking the robot as a matched robot.

6. The method according to claim 3 or 4, wherein the step of S12 is preceded by the steps of:

7. A method according to claim 3, wherein said matching target robots from the matchable robots for accumulated tasks to be processed according to a second matching strategy for processing comprises:

8. The method of claim 7, wherein the priority value of the planned path is pre-derived based on at least one of: the number of times that the robot needs to take the elevator, the number of times that the robot needs to pass through a communication area, the task state of the robot and the utilization rate of the robot.

9. A task distribution system, the system comprising: a memory, a processor, a robot, wherein,

the memory has stored thereon a task allocation program which, when executed by the processor, implements the steps of the task allocation method of any one of claims 1 to 8;

10. A task distribution system, the system comprising:

the processing module is used for processing the matched target robot of the task to be processed from the matched robots according to the current working period and a corresponding preset strategy;