CN114019960A - Scheduling method and device for multi-robot delivery - Google Patents
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Abstract
The invention relates to the technical field of intelligent robots, in particular to a method and a device for scheduling multi-robot delivery, wherein the method comprises the following steps: the method comprises the steps of obtaining a delivery task to be distributed, wherein the delivery task to be distributed comprises information of a first target floor where a delivery arrives; detecting whether N robots waiting for tasks exist or not, wherein the N robots all have at least one object sending task; if yes, acquiring second target floor information of each robot for respectively sending the articles to reach; obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information; and distributing the object conveying tasks to be distributed to the target robots, and then comparing the floors corresponding to the object conveying tasks to be distributed with the floors of the existing tasks, and selecting the target robot with the optimal transport capacity to receive the object conveying tasks to be distributed, so that the transport capacity of the robot is optimal.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method and a device for scheduling multi-robot delivery.
Background
The existing robot delivery generally starts to execute a task when the robot detects that self goods are full or the time length of waiting for re-distribution of the task is over after a task is issued, and the next task is distributed to only the robot which has already executed the task, namely an idle robot. Therefore, when there are many delivery tasks, due to the limitation of the number of robots, the delivery tasks cannot be executed in time, and the delivery tasks are delayed.
Therefore, how to optimize the transportation capacity of the robot to improve the object conveying efficiency of the robot is a technical problem to be solved urgently at present.
Disclosure of Invention
In view of the above, the present invention is proposed to provide a scheduling method and apparatus for multi-robot delivery that overcomes or at least partially solves the above problems.
In a first aspect, the present invention provides a method for scheduling multiple robots to deliver objects, including:
the method comprises the steps of obtaining a delivery task to be distributed, wherein the delivery task to be distributed comprises information of a first target floor where a delivery arrives;
detecting whether N robots waiting for tasks exist or not, wherein the N robots all have at least one object sending task;
if so, acquiring second target floor information of each robot for respectively delivering the articles;
obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information;
and distributing the object conveying task to be distributed to the target robot.
Preferably, after the acquiring the delivery task to be distributed and before detecting whether there are N robots waiting for the task, the method further includes:
detecting whether an idle robot exists, wherein the idle robot is a robot which is not distributed with a delivery task;
and if so, distributing the delivery tasks to be distributed to the idle robots.
Preferably, the obtaining of the target robot with the optimal transport capacity based on the first target floor information and the second target floor information includes:
judging whether the first target floor is a floor passing by the second target floor;
and if so, determining the robot which delivers the object to the second target floor as the target robot with the optimal transport capacity.
Preferably, the determining whether the first target floor is a floor through which the second target floor is reached further includes:
and if not, determining the robot corresponding to the floor closest to the first target floor in the second target floors to which the delivered objects arrive as the target robot with the optimal transport capacity.
Preferably, the robot for delivering the article to the second target floor is determined as a target robot with the optimal transport capacity, and the method comprises the following steps:
and when a plurality of robots for conveying the object to the second target floor are provided, one of the robots is randomly selected to be determined as the target robot with the optimal transport capacity.
Preferably, the robot for delivering the article to the second target floor is determined as a target robot with the optimal transport capacity, and the method comprises the following steps:
and when a plurality of robots for delivering the articles to the second target floor exist, determining the robot corresponding to the floor nearest to the first target floor in the second target floor to which the articles are delivered as the target robot with the optimal transport capacity.
Preferably, each robot has built in shelves for multiple layers of items.
In a second aspect, the present invention further provides a scheduling apparatus for multiple robots to deliver objects, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a delivery task to be allocated, and the delivery task to be allocated comprises first target floor information of delivery arrival;
the first detection module is used for detecting whether N robots waiting for tasks exist or not, and the N robots all have at least one object delivery task;
the second acquisition module is used for acquiring second target floor information of the arrival of each robot respectively delivered objects if the first target floor information is positive;
the obtaining module is used for obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information;
and the distribution module is used for distributing the object conveying tasks to be distributed to the target robot.
In a third aspect, the present invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above-mentioned method steps when executing the program.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the above method steps.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a method for scheduling multi-robot delivery, which comprises the following steps: the method comprises the steps of obtaining a delivery task to be distributed, wherein the delivery task to be distributed comprises information of a first target floor where a delivery arrives; detecting whether N robots waiting for tasks exist or not, wherein the N robots all have at least one object sending task; if yes, acquiring second target floor information of each robot for respectively sending the articles to reach; obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information; and the object conveying task to be distributed is distributed to the target robot, and then the target robot with the optimal transport capacity is selected to receive the object conveying task to be distributed according to the comparison between the floor corresponding to the object conveying task to be distributed and the floor of the existing task, so that the transport capacity of the robot is optimal, and the object conveying efficiency of the robot is improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart illustrating the steps of a scheduling method for multi-robot delivery in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a scheduling apparatus for multi-robot delivery according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computer device for implementing the scheduling method for multi-robot delivery in the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
The embodiment of the invention provides a scheduling method for multi-robot delivery, which is applied to a device for distributing tasks for multiple robots, and as shown in fig. 1, the method comprises the following steps:
s101, acquiring a delivery task to be distributed, wherein the delivery task to be distributed comprises information of a first target floor where a delivery arrives;
s102, detecting whether N robots waiting for tasks exist or not, wherein the N robots all have at least one object sending task;
s103, if yes, acquiring second target floor information to which each robot respectively sends objects;
s104, obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information;
and S105, distributing the object conveying task to be distributed to the target robot.
In a specific embodiment, in S101, the task to be allocated is generated based on the delivery requirement of the user. For a building, the delivery requirements of users in the whole building can be integrated to perform distribution tasks.
A plurality of robots can execute the object conveying task in the whole building. Each robot is internally provided with a shelf for storing multiple layers of articles, each layer of shelf can store articles required by a user, and each layer of shelf is isolated from the other layer of shelf so as to prevent unrelated users from taking away articles which do not belong to the robot.
After S101 and before S102, the method further includes:
detecting whether an idle robot exists, wherein the idle robot is a robot which is not distributed with a delivery task;
and if so, distributing the delivery tasks to be distributed to the idle robots.
In an alternative embodiment, it is detected whether there is an idle robot, in particular whether there is a robot that has returned to perform a task. The information fed back by the robot can be obtained, and the information can also be obtained according to the task execution progress.
If so, the plurality of delivery tasks can be allocated to the current idle robot if the plurality of delivery tasks are acquired at the same time. For example, each robot has a shelf for storing 4 layers of articles, and thus can receive 4 delivery tasks at the maximum. When 5 delivery tasks are acquired, 4 delivery tasks can be directly allocated to the idle robot.
First, whether an idle robot exists is detected, and since the idle robot can execute the assigned task as a primary task, the efficiency of task execution can be improved.
If not, S102 is executed, and whether N robots waiting for the tasks exist is detected, wherein the N robots all have at least one object delivery task.
After the robot is assigned with the tasks, if the built-in goods shelf is not full, the robot needs to wait for the preset time, a new delivery task can be received within the preset time, and if the preset time is over, the robot does not receive the new delivery task, the robot starts to execute the delivery task.
When no idle robot is detected, whether N robots waiting for tasks exist is detected, and the number of the robots waiting for tasks is not one.
When a plurality of robots waiting for the task are detected, S103 is executed, and if yes, information on second target floors to which each robot respectively arrives is acquired.
For example, 3 robots waiting for tasks are detected, wherein the second target floor where one robot delivers the object is 7 floors; the second destination floor to which one robot delivered article arrives is 9 floors, and the second destination floor to which one robot delivered article arrives is 11 floors.
Then, S104 is performed, and based on the first target floor information and the second target floor information, a target robot with the optimal transport capacity is obtained.
The transport capacity is optimal, namely the transport capacity is minimum, the most conveying tasks are realized by using the minimum robots.
The way to obtain the target robot with optimal transport capacity is as follows:
and judging whether the first target floor is a floor where the first target floor is reached, if so, determining the robot which sends the object to the second target floor as the target robot with the optimal transport capacity.
For example, when 3 robots waiting for a task are detected, the second target floors to which the object is delivered are 7, 9, and 11 floors. If the first destination floor reached by the delivery of the delivery task to be allocated is 10 floors, the first destination floor is determined as follows: floor 10, is to the second destination floor: 11 floors to which they are routed. Thus, the delivery to the second destination floor: the robot with 11 layers is determined as the target robot with optimal transport capacity.
The above is an example of obtaining an optimal target robot, and in one implementation, when there are a plurality of robots for delivering articles to the second target floor, one of the robots is randomly selected to be determined as the target robot with the optimal transport capacity.
In another embodiment, when there are a plurality of robots that reach the second destination floor, a robot corresponding to a floor closest to the first destination floor among the second destination floor to which the delivered object arrives is determined as a target robot having the optimal transportation capacity.
For example, when a robot having 3 waiting tasks is detected, the second target floors to which the object is delivered are 7 floors, 9 floors, and 11 floors. If the first destination floor reached by the delivery of the delivery task to be allocated is 5 floors, the first destination floor is determined as follows: 5 floors, which are respectively reached to the second destination floor: floors visited of floors 7, 9, 11. And selecting the robot with the second destination floor closest to the first destination floor from the 3 robots waiting for tasks, selecting the robot with the 7 th floor to the second destination floor, and determining the target robot with the optimal transport capacity. And further, the floor where the robot arrives is not too far away, the robot can return to the task allocation point in time to receive the task allocation, and the efficiency of the robot for executing the task is improved.
And if the first target floor is not the floor where the object arrives, determining the robot corresponding to the floor closest to the first target floor in the second target floors where the object arrives as the target robot with the optimal transport capacity.
For example, the second target floors to which the robot having 3 waiting tasks is currently detected are 7 floors, 9 floors, and 11 floors. If the first destination floor to which the delivered object arrives in the task of delivering the object to be allocated is 15 floors, the robot of 11 floors in the second destination floor to which the delivered object arrives is determined to be the robot closest to the 15 floors of the first destination floor, and the robot of which the delivered object arrives at the 11 floors is determined to be the target robot with the optimal transport capacity.
After the target robot is determined in any one of the above manners, S105 is executed to assign the task of delivering the object to be assigned to the target robot, so that the target robot takes an object and delivers the object according to the task.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a method for scheduling multi-robot delivery, which comprises the following steps: the method comprises the steps of obtaining a delivery task to be distributed, wherein the delivery task to be distributed comprises information of a first target floor where a delivery arrives; detecting whether N robots waiting for tasks exist or not, wherein the N robots all have at least one object sending task; if yes, acquiring second target floor information of each robot for respectively sending the articles to reach; obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information; and the object conveying task to be distributed is distributed to the target robot, and then the target robot with the optimal transport capacity is selected to receive the object conveying task to be distributed according to the comparison between the floor corresponding to the object conveying task to be distributed and the floor of the existing task, so that the transport capacity of the robot is optimal, and the object conveying efficiency of the robot is improved.
Example two
Based on the same inventive concept, the invention also provides a scheduling device for multi-robot delivery, as shown in fig. 2, comprising:
a first obtaining module 201, configured to obtain a delivery task to be allocated, where the delivery task to be allocated includes information of a first target floor where a delivery arrives;
the first detection module 202 is configured to detect whether there are N robots waiting for a task, where the N robots all have at least one object delivery task;
a second obtaining module 203, configured to obtain information of a second target floor to which each robot respectively sends an article if the robot reaches the second target floor;
an obtaining module 204, configured to obtain a target robot with an optimal transport capacity based on the first target floor information and the second target floor information;
a first assigning module 205, configured to assign the task of delivering objects to be assigned to the target robot.
In an optional embodiment, the method further comprises:
the second detection module is used for detecting whether an idle robot exists, and the idle robot is a robot which is not distributed with a delivery task;
and the second distribution module is used for distributing the delivery tasks to be distributed to the idle robots if the delivery tasks to be distributed are available.
In an alternative embodiment, the obtaining module 204 includes:
a judgment unit, configured to judge whether the first target floor is a floor on which the second target floor is reached;
and the first determining unit is used for determining the robot which delivers the object to the second target floor as the target robot with the optimal transport capacity if the object is delivered to the second target floor.
In an optional implementation, the obtaining module 104 further includes:
and the second determining unit is used for determining the robot corresponding to the floor closest to the first target floor in the second target floors to which the delivered goods arrive as the target robot with the optimal transport capacity if the delivered goods do not arrive at the target floors.
In an optional implementation, the first determining unit is configured to:
and when a plurality of robots for conveying the object to the second target floor are provided, one of the robots is randomly selected to be determined as the target robot with the optimal transport capacity.
In an optional implementation, the first determining unit is configured to:
and when a plurality of robots for delivering the articles to the second target floor exist, determining the robot corresponding to the floor nearest to the first target floor in the second target floor to which the articles are delivered as the target robot with the optimal transport capacity.
In an alternative embodiment, each robot has built-in shelves for storing multiple layers of items.
EXAMPLE III
Based on the same inventive concept, the embodiment of the present invention provides a computer device, as shown in fig. 3, including a memory 304, a processor 302, and a computer program stored on the memory 304 and executable on the processor 302, wherein the processor 302 implements the steps of the scheduling method for multi-robot delivery described above when executing the program.
Where in fig. 3 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 306 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
Example four
Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described scheduling method for multi-robot delivery.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the scheduling apparatus, computer device, and multi-robot feed in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A scheduling method for multi-robot delivery is characterized by comprising the following steps:
the method comprises the steps of obtaining a delivery task to be distributed, wherein the delivery task to be distributed comprises information of a first target floor where a delivery arrives;
detecting whether N robots waiting for tasks exist or not, wherein the N robots all have at least one object sending task;
if so, acquiring second target floor information of each robot for respectively delivering the articles;
obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information;
and distributing the object conveying task to be distributed to the target robot.
2. The scheduling method according to claim 1, further comprising, after the acquiring the delivery task to be distributed and before detecting whether there are N robots waiting for the task:
detecting whether an idle robot exists, wherein the idle robot is a robot which is not distributed with a delivery task;
and if so, distributing the delivery tasks to be distributed to the idle robots.
3. The scheduling method of claim 1 wherein said deriving the optimal capacity target robot based on the first target floor information and the second target floor information comprises:
judging whether the first target floor is a floor passing by the second target floor;
and if so, determining the robot which delivers the object to the second target floor as the target robot with the optimal transport capacity.
4. The method of claim 3, wherein the determining whether the first target floor is a floor through which the second target floor is reached further comprises:
and if not, determining the robot corresponding to the floor closest to the first target floor in the second target floors to which the delivered objects arrive as the target robot with the optimal transport capacity.
5. The scheduling method according to claim 3, wherein the determining of the robot that reaches the second target floor as the target robot whose transportation capacity is optimal includes:
and when a plurality of robots for conveying the object to the second target floor are provided, one of the robots is randomly selected to be determined as the target robot with the optimal transport capacity.
6. The scheduling method according to claim 3, wherein the determining of the robot that reaches the second target floor as the target robot whose transportation capacity is optimal includes:
and when a plurality of robots for delivering the articles to the second target floor exist, determining the robot corresponding to the floor nearest to the first target floor in the second target floor to which the articles are delivered as the target robot with the optimal transport capacity.
7. The scheduling method of claim 1 wherein each robot has built-in shelves for storing multiple layers of items.
8. A scheduling device for multi-robot delivery, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a delivery task to be allocated, and the delivery task to be allocated comprises first target floor information of delivery arrival;
the first detection module is used for detecting whether N robots waiting for tasks exist or not, and the N robots all have at least one object delivery task;
the second acquisition module is used for acquiring second target floor information of the arrival of each robot respectively delivered objects if the first target floor information is positive;
the obtaining module is used for obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information;
and the distribution module is used for distributing the object conveying tasks to be distributed to the target robot.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method steps of any of claims 1-7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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| CN111928849A (en) * | 2019-12-20 | 2020-11-13 | 陕西科技大学 | Multi-medical delivery robot real-time path planning method |
| CN112053067A (en) * | 2020-09-09 | 2020-12-08 | 上海有个机器人有限公司 | Multi-task delivery method and device for robot and robot |
| CN112633741A (en) * | 2020-12-30 | 2021-04-09 | 北京云迹科技有限公司 | Task allocation method, equipment and computer readable storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114851210A (en) * | 2022-07-05 | 2022-08-05 | 北京云迹科技股份有限公司 | Robot scheduling method based on cloud platform and scheduling cloud platform |
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