CN114019960B - 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 scheduling method and a scheduling device for multi-robot delivery, wherein the method comprises the following steps: acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival; detecting whether N robots waiting for tasks exist or not, wherein each of the N robots has at least one object feeding task; if so, acquiring second target floor information of each robot for delivering objects to the corresponding robot; 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 delivery task to be distributed to the target robot, and further, according to the floor corresponding to the object delivery task to be distributed and the floor of the existing task, selecting the target robot with optimal transport capacity to receive the object delivery task 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 scheduling method and device for multi-robot delivery.
Background
The existing robot delivering objects generally starts executing tasks when the robot detects that the goods of the robot are full after delivering the tasks or waits for the time for redistributing the tasks to finish, and the task delivering for the next time can only be distributed to the robot which has already executed the tasks, namely the idle robot. Therefore, when more object delivery tasks exist, the object delivery tasks cannot be executed in time due to the limitation of the number of robots, so that the influence of object delivery task delay and the like is caused.
Therefore, how to optimize the carrying capacity of the robot so as to improve the material conveying efficiency of the robot is a technical problem to be solved urgently.
Disclosure of Invention
In view of the foregoing, the present invention has been made to provide a method and apparatus for scheduling multi-robot delivery that overcomes or at least partially solves the foregoing problems.
In a first aspect, the present invention provides a method for scheduling multi-robot delivery, including:
Acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival;
Detecting whether N robots waiting for tasks exist or not, wherein each of the N robots has at least one object sending task;
If yes, acquiring second target floor information of each robot for delivering objects to reach respectively;
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 delivery task to be distributed to the target robot.
Preferably, after the object delivery task to be distributed is acquired 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 does not distribute a task;
if yes, distributing the object sending task to be distributed to the idle robot.
Preferably, the obtaining the target robot with the optimal carrying capacity based on the first target floor information and the second target floor information includes:
judging whether the first target floor is a floor through which the second target floor is reached;
if yes, determining the robot of which the object reaches the second target floor as the target robot with the optimal transport capacity.
Preferably, after determining whether the first destination floor is a floor through which the second destination floor is reached, the method further includes:
if not, the robot corresponding to the nearest floor to the first target floor in the second target floors reached by the delivering object is determined as the target robot with the optimal carrying capacity.
Preferably, the determining the robot for delivering the object to the second destination floor as the destination robot with the optimal transport capacity includes:
And when a plurality of robots for delivering objects to the second target floor exist, randomly selecting one of the robots to be determined as the target robot with the optimal transport capacity.
Preferably, the determining the robot for delivering the object to the second destination floor as the destination robot with the optimal transport capacity includes:
And when a plurality of robots for delivering objects reach the second target floor, determining the robot corresponding to the nearest floor from the first target floor in the second target floor reached by the objects as the target robot with the optimal carrying capacity.
Preferably, each robot houses a shelf for storing multiple layers of items.
In a second aspect, the present invention also provides a scheduling device for multi-robot delivery, including:
the first acquisition module is used for acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival;
The first detection module is used for detecting whether N robots waiting for the task exist or not, and all the N robots have at least one object sending task;
The second acquisition module is used for acquiring second target floor information of each robot for respectively delivering objects to the robots if the second target floor information is yes;
the obtaining module is used for obtaining the 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 sending task 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, the processor implementing the above 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 at least have the following technical effects or advantages:
The invention provides a scheduling method for multi-robot delivery, which comprises the following steps: acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival; detecting whether N robots waiting for tasks exist or not, wherein each of the N robots has at least one object feeding task; if so, acquiring second target floor information of each robot for delivering objects to the corresponding robot; obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information; and distributing the to-be-distributed object delivery task to the target robot, further comparing the floor corresponding to the to-be-distributed object delivery task with the floor of the existing task, and selecting the target robot with optimal transport capacity to receive the to-be-distributed object delivery task, so that the transport capacity of the robot is optimal, and the object delivery 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 throughout the drawings, like reference numerals are used to designate like parts. In the drawings:
FIG. 1 is a schematic flow chart showing steps of a method for scheduling multi-robot delivery in an embodiment of the invention;
Fig. 2 is a schematic structural diagram of a scheduling device for multi-robot delivery in an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a computer device for implementing a scheduling method of multi-robot delivery in an 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 1
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, as shown in fig. 1, and comprises the following steps:
s101, acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival;
s102, detecting whether N robots waiting for a task exist or not, wherein each of the N robots has at least one object sending task;
s103, if yes, acquiring second target floor information of each robot for delivering objects to the robots respectively;
S104, obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information;
s105, distributing the object delivery 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 allocation tasks.
A plurality of robots can perform the task of delivering objects in the whole building. Each robot is internally provided with a goods shelf for storing multiple layers of goods, each layer of goods shelf can store goods required by a user, and each layer of goods shelf is separated, so that the irrelevant users can be prevented from taking the goods which do not belong to the users.
After S101, and before S102, further includes:
Detecting whether an idle robot exists, wherein the idle robot is a robot which does not distribute the object task;
If yes, distributing the object delivery task to be distributed to the idle robot.
In an alternative embodiment, it is detected whether there are free robots, in particular robots that perform a task return. The information fed back by the robot can be obtained, and the task execution progress can also be obtained.
If so, at the same time, if a plurality of object sending tasks are acquired, the plurality of object sending tasks can be distributed to the current idle robot. For example, each robot has built-in shelves for storing 4 layers of items, and is therefore able to receive a maximum of 4 delivery tasks. When 5 object sending tasks are obtained, 4 of the object sending tasks can be directly distributed to the idle robot.
Firstly, whether an idle robot exists or not is detected, and the idle robot can execute the allocated task as a primary task, so that the task execution efficiency can be improved.
If not, executing S102, and detecting whether N robots waiting for the task exist, wherein each of the N robots has at least one object sending task.
After the robot is assigned with the tasks, if the built-in shelf is not full, waiting for a preset time period, and receiving a new object-delivering task within the preset time period, and if the new object-delivering task is not received after the preset time period is over, starting to execute the object-delivering task.
When no idle robots are detected, it is detected whether there are N robots waiting for a task, nor is the number of robots waiting for a task one.
When a robot having a plurality of waiting tasks is detected, S103 is executed, and if so, second destination floor information that each robot arrives at is acquired.
For example, a robot with 3 waiting tasks is detected, wherein the second target floor reached by one robot for delivering objects is 7 floors; the second destination floor reached by one robot feed was 9 floors and the second destination floor reached by one robot feed was 11 floors.
Then, S104 is executed to obtain a target robot with optimal transport capacity based on the first target floor information and the second target floor information.
The transport capacity is optimal, namely the most object delivery tasks are realized by using the least robots, and the transport capacity is the least.
The manner of obtaining the target robot with the optimal transport capacity is as follows:
And judging whether the first target floor is a floor on which a second target floor is reached, if so, determining the robot with the object delivery reaching the second target floor as the target robot with the optimal transport capacity.
For example, a robot with 3 waiting tasks is detected, and the second destination floor reached by the respective delivery is 7, 9, 11 floors. If the first destination floor reached by the delivery of the delivery task to be allocated is 10 floors, determining the first destination floor: layer 10, is reaching the second destination floor: 11 floors of the way. Thus, the feed is brought to the second destination floor: the robot of 11 floors is determined as the target robot with optimal transport capacity.
The above is an example of obtaining an optimal target robot, and in one embodiment, when there are a plurality of robots for delivering objects to the second target floor, one of the robots is selected randomly to determine the target robot with optimal transport capacity.
In another embodiment, when there are a plurality of robots for delivering objects to the second destination floor, the robot corresponding to the nearest floor to the first destination floor among the second destination floors to which the objects are delivered is determined as the destination robot with the optimal transport capacity.
For example, a robot with 3 waiting tasks is detected, and the second destination floor reached by the respective delivery is 7 floors, 9 floors, 11 floors. If the first destination floor reached by the delivery of the delivery task to be allocated is 5 floors, determining the first destination floor: layer 5, which respectively reach the second destination floor: the floor of the way of 7 floors, 9 floors and 11 floors. From among the 3 robots waiting for the task, the robot having the closest second destination floor to the first destination floor is selected, and the robot having the 7 floors of the second destination floor is selected, so that the destination robot having the optimal transport capacity is determined. And the floor reached by the robot is not too far, so that the robot can timely return to the task allocation point to receive the task allocation, and the task execution efficiency of the robot is improved.
If the first destination floor is not the floor where the second destination floor is reached, the robot corresponding to the nearest floor to the first destination floor among the second destination floors where the delivery object arrives is determined as the destination robot with the optimal transport capacity.
For example, robots with 3 waiting tasks are currently detected, and the second destination floor to which the respective delivery arrives is 7, 9, 11 floors. If the first destination floor reached by the delivery object in the delivery object task to be distributed is 15 floors, the robot of 11 floors in the second destination floor reached by the delivery object is determined to be the nearest robot to the first destination floor 15 floors, and the robot of 11 floors reached by the delivery object is determined to be the target robot with the optimal transport capacity.
After the target robot determined by any one of the above methods is adopted, S105 is executed, and the task to be allocated for delivering the object is allocated to the target robot, so that the target robot takes and delivers the object according to the task.
One or more technical solutions in the embodiments of the present invention at least have the following technical effects or advantages:
The invention provides a scheduling method for multi-robot delivery, which comprises the following steps: acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival; detecting whether N robots waiting for tasks exist or not, wherein each of the N robots has at least one object feeding task; if so, acquiring second target floor information of each robot for delivering objects to the corresponding robot; obtaining a target robot with optimal transport capacity based on the first target floor information and the second target floor information; and distributing the to-be-distributed object delivery task to the target robot, further comparing the floor corresponding to the to-be-distributed object delivery task with the floor of the existing task, and selecting the target robot with optimal transport capacity to receive the to-be-distributed object delivery task, so that the transport capacity of the robot is optimal, and the object delivery 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 to-be-allocated delivery task, where the to-be-allocated delivery task includes first destination floor information of a delivery arrival;
A first detection module 202, configured to detect whether there are N robots waiting for a task, where each of the N robots has at least one task for delivering a object;
A second obtaining module 203, configured to obtain, if yes, second destination floor information that each robot arrives at by sending an object separately;
An obtaining module 204, configured to obtain a target robot with optimal capacity based on the first target floor information and the second target floor information;
The first allocation module 205 is configured to allocate the task to be allocated to the target robot.
In an alternative embodiment, the method further comprises:
The second detection module is used for detecting whether an idle robot exists or not, wherein the idle robot is a robot which does not distribute the object task;
And the second allocation module is used for allocating the object sending task to be allocated to the idle robot if the object sending task to be allocated is the same.
In an alternative embodiment, the obtaining module 204 includes:
The judging unit is used for judging whether the first target floor is a floor through which the second target floor is reached;
and the first determining unit is used for determining the robot of which the conveying object reaches the second target floor as the target robot with the optimal conveying capacity if the conveying object reaches the second target floor.
In an alternative embodiment, the obtaining module 104 further includes:
And the second determining unit is used for determining a robot corresponding to a floor closest to the first target floor in the second target floors reached by the delivering objects as the target robot with the optimal carrying capacity if not.
In an alternative embodiment, the first determining unit is configured to:
And when a plurality of robots for delivering objects to the second target floor exist, randomly selecting one of the robots to be determined as the target robot with the optimal transport capacity.
In an alternative embodiment, the first determining unit is configured to:
And when a plurality of robots for delivering objects reach the second target floor, determining the robot corresponding to the nearest floor from the first target floor in the second target floor reached by the objects as the target robot with the optimal carrying capacity.
In an alternative embodiment, each robot houses a pallet for storing multiple layers of items.
Example III
Based on the same inventive concept, an 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 in the memory 304 and capable of running on the processor 302, where the steps of the scheduling method for multiple robot delivery are implemented when the processor 302 executes the program.
Where in FIG. 3 a bus architecture (represented by bus 300), bus 300 may comprise any number of interconnected buses and bridges, with bus 300 linking together various circuits, including one or more processors, represented by processor 302, and memory, represented by memory 304. Bus 300 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. Bus interface 306 provides an interface between bus 300 and 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, while the memory 304 may be used to store data used by the processor 302 in performing operations.
Example IV
Based on the same inventive concept, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described multi-robot dispatch method.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood 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 construed as reflecting the intention that: i.e., the claimed invention 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 apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. 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. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units 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 but not others included in other embodiments, 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 can be used in any combination.
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. Those skilled in the art will appreciate 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 in a multi-robot dispatch device, computer device, in accordance with embodiments of the present invention. The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided 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 use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (7)
1. A method for scheduling multi-robot delivery, comprising:
Acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival;
detecting whether an idle robot exists, wherein the idle robot is a robot which does not distribute a task;
If so, distributing the to-be-distributed object delivery tasks to the idle robot, and if a plurality of object delivery tasks are obtained at the same time, distributing the plurality of object delivery tasks to the current idle robot;
If not, detecting whether N robots waiting for the task exist, wherein each of the N robots has at least one object sending task;
If yes, acquiring second target floor information of each robot for delivering objects to reach respectively;
Based on the first target floor information and the second target floor information, obtaining a target robot with optimal transport capacity comprises the following steps:
judging whether the first target floor is a floor through which the second target floor is reached;
If yes, determining the robot of which the object reaches the second target floor as the target robot with the optimal transport capacity;
if not, determining the robot corresponding to the nearest floor to the first target floor in the second target floors reached by the sent objects as the target robot with the optimal carrying capacity;
And distributing the object delivery task to be distributed to the target robot.
2. The scheduling method according to claim 1, wherein the robot that arrives at the second destination floor with the delivery object is determined as the destination robot that is optimal in the capacity, comprising:
And when a plurality of robots for delivering objects to the second target floor exist, randomly selecting one of the robots to be determined as the target robot with the optimal transport capacity.
3. The scheduling method according to claim 1, wherein the robot that arrives at the second destination floor with the delivery object is determined as the destination robot that is optimal in the capacity, comprising:
And when a plurality of robots for delivering objects reach the second target floor, determining the robot corresponding to the nearest floor from the first target floor in the second target floor reached by the objects as the target robot with the optimal carrying capacity.
4. The scheduling method of claim 1, wherein each robot houses shelves for storing the multi-layered items.
5. A multi-robot dispatch device, comprising:
the first acquisition module is used for acquiring a to-be-allocated delivery task, wherein the to-be-allocated delivery task comprises first target floor information of delivery arrival;
The first detection module is used for detecting whether an idle robot exists, the idle robot is a robot which does not distribute the object task, if yes, the object task to be distributed is distributed to the idle robot, if a plurality of object tasks are obtained at the same moment, the plurality of object tasks are distributed to the current idle robot, if no, N robots waiting for the tasks are detected, and all the N robots have at least one object task;
The second acquisition module is used for acquiring second target floor information of each robot for respectively delivering objects to the robots if the second target floor information is yes;
The obtaining module is configured to obtain a target robot with optimal transport capacity based on the first target floor information and the second target floor information, and includes:
judging whether the first target floor is a floor through which the second target floor is reached;
If yes, determining the robot of which the object reaches the second target floor as the target robot with the optimal transport capacity;
if not, determining the robot corresponding to the nearest floor to the first target floor in the second target floors reached by the sent objects as the target robot with the optimal carrying capacity;
and the distribution module is used for distributing the object sending task to be distributed to the target robot.
6. 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 method steps of any of claims 1-4 when the program is executed.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method steps of any of claims 1-4.
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| CN202111217566.6A CN114019960B (en) | 2021-10-19 | Scheduling method and device for multi-robot delivery |
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