CN114997650A - Multi-robot multi-task dispatching method and device and electronic equipment - Google Patents

Multi-robot multi-task dispatching method and device and electronic equipment Download PDF

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CN114997650A
CN114997650A CN202210631731.0A CN202210631731A CN114997650A CN 114997650 A CN114997650 A CN 114997650A CN 202210631731 A CN202210631731 A CN 202210631731A CN 114997650 A CN114997650 A CN 114997650A
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吴新开
霍向
马亚龙
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Beijing Lobby Technology Co ltd
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Abstract

The invention discloses a multi-robot multitask dispatching method and device and electronic equipment, belonging to the technical field of intelligent hardware, wherein the method comprises the following steps: determining a plurality of dispatching tasks to be processed and a plurality of robots to be deployed; determining the priority of each path planning constraint parameter; sequentially calling a target function corresponding to each constraint parameter according to the sequence of the priority from high to low to screen a path planning result set of the plurality of dispatching tasks executed by the plurality of robots, so as to obtain a target path planning result; and controlling each target robot to execute a dispatching task according to the corresponding dispatching path. By the multi-robot multi-task dispatching method disclosed by the invention, more dispatching tasks can be completed by using less robots in less time, the dispatching efficiency is improved, and the dispatching cost is saved.

Description

Multi-robot multi-task dispatching method and device and electronic equipment
Technical Field
The invention relates to the technical field of intelligent hardware, in particular to a multi-robot multi-task dispatching method and device and electronic equipment.
Background
In the field of goods delivery, how to use fewer robots to spend less time to complete more delivery tasks is always an industry hotspot, and accordingly, robot delivery path planning is brought to bear.
The traditional robot delivery path planning scheme is as follows: the robot starts from the initial position and then sequentially passes through the pick-up position and the delivery position of each delivery task, namely sequentially passes through the pick-up position of the delivery task 1, the delivery position of the delivery task 1, the pick-up position of the delivery task 2, the delivery position of the delivery task 2, the pick-up position of the delivery task 3 and the delivery position of the delivery task 3, and so on, and finally returns to the initial position.
However, the conventional dispatch route is too rigid, the route optimization space is small, and it is difficult to maximize dispatch efficiency and dispatch profit.
Disclosure of Invention
The embodiment of the invention aims to provide a multi-robot multi-task dispatching method and device and electronic equipment, and can solve the problem that dispatching efficiency and dispatching income are difficult to maximize in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme:
the embodiment of the invention provides a multi-robot multitask dispatching method, wherein the method comprises the following steps: determining a plurality of dispatching tasks to be processed and a plurality of robots to be deployed; determining the priority of each path planning constraint parameter, wherein the path planning constraint parameters comprise at least two of the following: dispatching income, dispatching time spent on dispatching and the number of dispatching robots, wherein each constraint parameter corresponds to an objective function; sequentially calling a target function corresponding to each constraint parameter according to the sequence of the priority from high to low to screen a path planning result set of the plurality of dispatching tasks executed by the plurality of robots, so as to obtain a target path planning result; wherein the target path planning result comprises: a dispatching task corresponding to each target robot and a dispatching path of each target robot; and controlling each target robot to execute a dispatching task according to the corresponding dispatching path.
Optionally, under the condition that the dispatching income, the dispatching duration and the priorities for dispatching the number of the robots are sequentially ranked from high to low, sequentially calling the target functions corresponding to the constraint parameters to screen the path planning result sets of the plurality of dispatching tasks executed by the plurality of robots according to the sequence from high to low of the priorities to obtain a target path planning result, including:
solving a first objective function corresponding to the delivery benefits based on a preset delivery benefit constraint condition to obtain a first path planning result of the plurality of robots executing the plurality of delivery tasks;
under the condition that the number of the first path planning results is larger than 1, solving a second objective function corresponding to the dispatching spending time based on a preset dispatching spending time minimization constraint condition, and screening out a second path planning result from the first planning result;
and under the condition that the second path planning result is larger than 1, solving a third objective function corresponding to the number of the allocation robots based on a preset minimum constraint condition of the number of the allocation robots, and screening a target path planning result from the second path planning result.
Optionally, when each target robot executes the dispatching task according to the corresponding dispatching path, each target robot satisfies the following constraint conditions:
the first constraint condition is: goods dispatched by each target robot do not have intersection;
the second constraint condition is as follows: the total amount of goods delivered by the target robot is less than or equal to the bearing capacity of the target robot;
the third constraint condition is as follows: the volume of the target robot is larger than or equal to the sum of the volumes of goods dispatched by the target robot.
Optionally, when each target robot executes a dispatch task according to a corresponding dispatch path, each dispatch path satisfies the following constraint condition:
the fourth constraint condition is as follows: the goods taking position and the goods delivering position of each delivering task in the delivering path belong to the delivering path point set of the target robot; wherein each pick-up location or delivery location is considered an element of the set of delivery waypoints;
the fifth constraint condition is as follows: in the delivery path point set, the goods taking position of the same delivery task is positioned in front of the goods delivery position;
the sixth constraint: the total number of elements in the dispatching path point set contained in the dispatching path is 2 times of the dispatching task number executed by the corresponding target robot.
Preferably, the objective function corresponding to each constraint parameter needs to satisfy a preset electric quantity constraint condition:
the total electric quantity consumed by the target robot for executing the dispatching task according to the dispatching path is less than or equal to the remaining total electric quantity of the target robot;
wherein the total amount of power includes: the power consumed by moving to the pick-up position, the power consumed by moving to the delivery position, the power consumed when the pick-up stays and the power consumed when the delivery stays.
The embodiment of the invention also provides a multi-robot multitask dispatching device, wherein the device comprises: the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining a plurality of dispatching tasks to be processed and a plurality of robots to be deployed; a second determining module, configured to determine a priority of each path planning constraint parameter, where the path planning constraint parameters include at least two of the following: dispatching income, dispatching time spent on dispatching and the number of dispatching robots, wherein each constraint parameter corresponds to an objective function; the screening module is used for sequentially calling the target functions corresponding to the constraint parameters to screen the path planning result sets of the multiple delivery tasks executed by the multiple robots according to the sequence of the priority levels from high to low so as to obtain target path planning results; wherein the target path planning result comprises: the dispatching task corresponding to each target robot and the dispatching path of each target robot; and the control module is used for controlling each target robot to execute the dispatching task according to the corresponding dispatching path.
Optionally, the screening module comprises:
the first screening submodule is used for solving a first objective function corresponding to the dispatching income on the basis of a preset dispatching income constraint condition under the condition that the dispatching income, the dispatching time length and the number of the dispatching robots are sequentially ranked from high to low to obtain a first path planning result of the plurality of dispatching tasks executed by the plurality of robots;
the second screening submodule is used for solving a second objective function corresponding to the dispatching time length on the basis of a preset dispatching time length minimization constraint condition under the condition that the number of the first path planning results is greater than 1, and screening a second path planning result from the first planning result;
and the third screening submodule is used for solving a third objective function corresponding to the number of the allocation robots based on a preset minimum constraint condition of the number of the allocation robots under the condition that the second path planning result is larger than 1, and screening a target path planning result from the second path planning result.
Optionally, when each target robot executes the dispatching task according to the corresponding dispatching path, each target robot satisfies the following constraint conditions:
the first constraint condition is: goods dispatched by each target robot do not have intersection;
the second constraint condition is as follows: the total amount of goods dispatched by the target robot is less than or equal to the weight bearing of the target robot;
the third constraint condition is as follows: the volume of the target robot is larger than or equal to the sum of the volumes of goods delivered by the target robot.
Optionally, when each target robot executes a dispatch task according to a corresponding dispatch path, each dispatch path satisfies the following constraint condition:
the fourth constraint condition is as follows: the goods taking position and the goods delivering position of each delivering task in the delivering path belong to the delivering path point set of the target robot; wherein each pick-up location or delivery location is considered an element of the set of delivery waypoints;
the fifth constraint condition is as follows: in the delivery path point set, the goods taking position of the same delivery task is positioned in front of the goods delivery position;
the sixth constraint condition is: the total number of elements in the dispatching path point set contained in the dispatching path is 2 times of the dispatching task number executed by the corresponding target robot.
Optionally, the objective function corresponding to each constraint parameter needs to satisfy a preset electric quantity constraint condition:
the total electric quantity consumed by the target robot for executing the dispatching task according to the dispatching path is less than or equal to the remaining total electric quantity of the target robot;
wherein the total amount of power includes: the electric quantity consumed by moving to the goods taking position, the electric quantity consumed by moving to the goods delivering position, the electric quantity consumed when the goods are taken and stopped and the electric quantity consumed when the goods are delivered and stopped.
An embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a program or an instruction stored in the memory and executable on the processor, where the program or the instruction, when executed by the processor, implements any one of the steps of the above-mentioned multi-robot multitask dispatching method.
An embodiment of the present invention provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of any one of the above-mentioned multi-robot multitask dispatching methods.
The multi-robot multi-task dispatching scheme provided by the embodiment of the invention is based on preset constraint parameters such as dispatching income, dispatching time spent on dispatching and priority sequencing of the number of dispatching robots, and a target function corresponding to the corresponding constraint parameters is called to screen a path planning result set of a plurality of dispatching tasks executed by a plurality of robots, so as to obtain a target path planning result; and then controlling each target robot to execute a dispatching task according to the corresponding dispatching path. The multi-robot multi-task dispatching scheme provided by the embodiment of the invention comprehensively considers the dispatching profit, the dispatching efficiency and the factors of the number and the dimensions of the dispatched robots, and finally determines a target path planning result, and the determined target path planning result can ensure that the dispatching efficiency and the dispatching profit of each robot are maximized, namely, fewer robots can spend less time to complete more dispatching tasks, the dispatching efficiency is improved, and the dispatching cost is saved.
Drawings
FIG. 1 is a flow chart illustrating the steps of a multi-robot multitasking dispatch method in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of a dispatch path for a single-robot multitask dispatch in accordance with an embodiment of the present application;
FIG. 3 is a diagram illustrating a path planning result according to an embodiment of the present application;
FIG. 4 is a block diagram illustrating an embodiment of a multi-robot multi-tasking device according to the present application;
fig. 5 is a block diagram showing a configuration of an electronic device according to an embodiment of the present application.
Detailed Description
To make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The multi-robot multitask dispatch scheme provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
The multi-robot multitask dispatching method comprises the following steps:
step 101: a plurality of dispatch tasks to be processed and a plurality of robots to be deployed are determined.
The multi-robot multitask dispatching method can be used for any appropriate electronic equipment, and the electronic equipment can be equipment with analysis functions such as a server and a computer. The electronic device may control the robot to perform task dispatch along the determined path. A storage medium in the electronic equipment stores a multi-robot multi-task dispatching program, and a processor of the electronic equipment runs the program in the storage medium to execute a multi-robot multi-task dispatching flow.
The plurality of dispatching tasks are all or part of tasks to be dispatched, and the robots to be dispatched are all or part of idle robots.
Step 102: and determining the priority of each path planning constraint parameter.
Wherein, the path planning constraint parameters include at least two of the following: the dispatching profit, the dispatching time length and the number of dispatching robots are obtained, and each constraint parameter corresponds to an objective function. The priority ordering of the constraint parameters determines the order in which the path planning results are subsequently screened based on the constraint parameters.
For example: the priority is as follows from high to low: and (4) selecting the path planning result according to the delivery income, the delivery time and the number of the allocation robots in sequence. For another example: the path planning constraint parameters comprise delivery income and delivery time, the priority of the delivery income is higher than that of the delivery time, and then the path planning results are screened according to the delivery income constraint parameters and the delivery time in sequence.
The dispatching profit corresponds to a first objective function, the setting principle of the first objective function is to complete as many dispatching tasks as possible, and the dispatching profit is guaranteed to be maximized. The first objective function is specifically as follows:
Figure BDA0003680302730000061
wherein the content of the first and second substances,
Figure BDA0003680302730000062
representing a dispatch task a j The gain of (1).
Figure BDA0003680302730000063
It is a dispatch coefficient that satisfies the following three constraints:
the first constraint condition is: each dispatching task is executed by at most one robot, namely, no intersection exists among the goods dispatched by each robot:
Figure BDA0003680302730000064
the second constraint condition is as follows: the load bearing of the robot is not less than the total weight of the goods of all dispatching tasks executed by the robot:
Figure BDA0003680302730000065
wherein the content of the first and second substances,
Figure BDA0003680302730000066
indicating robot r i The weight of the steel bar is reduced to zero,
Figure BDA0003680302730000067
representing a dispatch task a j The weight of the cargo.
The third constraint condition is as follows: the volume of the robot is not less than the sum of the cargo volumes of all delivery tasks which the robot is responsible for performing:
Figure BDA0003680302730000068
wherein the content of the first and second substances,
Figure BDA0003680302730000069
indicating robot r i The volume of (a) is,
Figure BDA00036803027300000610
representing a dispatch task a j The cargo volume of (a).
The dispatching time length corresponds to a second objective function, and the second objective function setting principle is the time that the dispatching task takes the least time. The second objective function is specifically as follows:
Figure BDA0003680302730000071
wherein the content of the first and second substances,
Figure BDA0003680302730000072
representing the time taken by the dispatch path, the calculation formula is as follows:
Figure BDA0003680302730000073
wherein the content of the first and second substances,
Figure BDA0003680302730000074
indicating slave robot r i To a set of dispatch waypoints
Figure BDA0003680302730000075
The distance between the 1 st position elements in (a);
Figure BDA0003680302730000076
indicating robot r i The speed of (d);
Figure BDA0003680302730000077
representing collections of delivery Path points
Figure BDA0003680302730000078
The operation time of the xth position element in (1);
Figure BDA0003680302730000079
indicating the distance from the x-th position element to the x + 1-th element.
The number of the allocation robots corresponds to a third objective function, the third objective function is set according to the principle that fewer distribution robots are used, and the lowest cost of the robots is guaranteed. The third objective function is specifically as follows:
Figure BDA00036803027300000710
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA00036803027300000711
indicating whether the delivery robot r is activated i ，
Figure BDA00036803027300000712
Indicating delivery robot r i The cost of enabling.
Figure BDA00036803027300000713
The target functions corresponding to the three constraint parameters all need to meet preset electric quantity constraint conditions: the total electric quantity consumed by the target robot for executing the dispatching task according to the dispatching path is less than or equal to the remaining total electric quantity of the target robot;
wherein, total electric quantity includes: the electric quantity consumed by moving to the goods taking position, the electric quantity consumed by moving to the goods delivering position, the electric quantity consumed when the goods are taken and stopped and the electric quantity consumed when the goods are delivered and stopped.
The preset electric quantity constraint condition expression can be as follows:
Figure BDA00036803027300000714
wherein the content of the first and second substances,
Figure BDA0003680302730000081
indicating robot r i The starting position of the (c) is,
Figure BDA0003680302730000082
indicating robot r i Delivery route point set of
Figure BDA0003680302730000083
The x-th position element in (b),
Figure BDA0003680302730000084
indicating robot r i The sum of the number of locations responsible for all dispatch tasks.
Figure BDA0003680302730000085
Indicating robot r i The amount of power consumed to move from the x-th position element to the x + 1-th position element, a represents the amount of power consumed by the robot to move a unit distance,
Figure BDA0003680302730000086
represents a distance from the x-th position element to the x + 1-th position element;
Figure BDA0003680302730000087
indicating robot r i The x +1 position is the amount of power consumed by the cell while it is parked for pick-up or delivery.
Step 103: and sequentially calling the target functions corresponding to the constraint parameters to screen the path planning result sets of the multiple dispatching tasks executed by the multiple robots according to the sequence from high priority to low priority, so as to obtain the target path planning result.
In the step, the path planning results in the path planning result set are screened layer by layer according to the constraint parameters of which the priority is sorted from high to low, partial path planning results in the path planning result set are filtered out each time the screening is completed, the path planning results obtained finally after the last screening may be one or multiple, if the path planning results are one, the path planning results are taken as target path planning results, and if the path planning results are multiple, one path planning result can be randomly selected as the target path planning results.
Wherein, the target path planning result comprises: the dispatching task corresponding to each target robot and the dispatching path of each target robot. That is to say, the objective of the scheme is to allocate each delivery task to the robot under the condition that multiple robots deliver multiple tasks, determine the delivery task set required to be executed by each robot, and then perform path planning on the robots, thereby ensuring that the delivery profit is maximum, the delivery cost time is minimum, and the robot cost is minimum.
Under the condition that the priorities of the delivery income, the delivery time length and the number of the dispatching robots are sequentially ranked from high to low, a feasible method for determining the target path planning result is as follows:
s1: solving a first objective function corresponding to the delivery benefits based on a preset delivery benefit constraint condition to obtain a first path planning result of the plurality of robots executing a plurality of delivery tasks;
the delivery profit constraint condition can maximize the delivery profit or meet a preset profit threshold for the delivery profit. The first path planning result can be one or more, and when the first path planning result is one, the first path planning result can be directly determined as a target path planning result; when there are plural, S2 is executed.
S2: under the condition that the number of the first path planning results is larger than 1, solving a second objective function corresponding to the dispatching spending time based on a preset dispatching spending time minimization constraint condition, and screening out a second path planning result from the first planning result;
the number of the second path planning results can be one or more, and when the number of the second path planning results is one, the first path planning result can be directly determined as a target path planning result; when there are plural, S3 is executed.
S3: and under the condition that the second path planning result is larger than 1, solving a third objective function corresponding to the number of the allocation robots based on a preset minimum constraint condition of the number of the allocation robots, and screening out a target path planning result from the second path planning result.
When one path planning result is obtained by solving based on the third objective function, determining the path planning result as a target path strength planning result; and when a plurality of path planning results obtained by solving based on the third objective function are obtained, randomly selecting one path planning result from the path planning results as a target path stiffness planning result.
It should be noted that, the above description only describes the process of screening out the target path planning result according to three constraint parameters, namely the delivery profit, the delivery time spent and the number of deployment robots, and the priorities of the delivery profit, the delivery time spent and the number of deployment robots are sequentially ranked from high to low. In the actual implementation process, the flow of the target path planning result needs to flexibly adjust the screening flow of the target path planning result according to the constraint parameters and the priority of the constraint parameters.
Step 104: and controlling each target robot to execute the dispatching task according to the corresponding dispatching path.
When each target robot executes the dispatching task according to the corresponding dispatching path, each target robot meets the following constraint conditions:
the first constraint condition is: goods delivered by each target robot do not have intersection; the second constraint condition is as follows: the total amount of goods dispatched by the target robot is less than or equal to the bearing capacity of the target robot; the third constraint condition is as follows: the volume of the target robot is more than or equal to the total volume of goods delivered by the target robot.
Target robot r in the embodiment of the application i The dispatch path of (a) can be expressed by:
Figure BDA0003680302730000091
wherein the content of the first and second substances,
Figure BDA0003680302730000092
robot r for representing target i Is detected by the sensor at the start position of (2),
Figure BDA0003680302730000093
robot r representing target i Wherein, the dispatch path point set can be regarded as a sequence, and the elements in the sequence have precedence position relationship,
Figure BDA0003680302730000094
representing a set of dispatch waypoints
Figure BDA0003680302730000095
The (x) th element of (a),
Figure BDA0003680302730000096
robot r for representing target i The sum of the number of locations responsible for all dispatch tasks.
When each target robot executes the dispatching task according to the corresponding dispatching path, each dispatching path meets the following constraint conditions:
the fourth constraint condition is as follows: the goods taking position and the goods delivering position of each delivering task in the delivering path belong to the delivering path point set of the target robot; wherein each pick-up location or delivery location is considered an element of the set of delivery waypoints.
If task a is dispatched j By the target robot r i Is responsible for, then task a is dispatched j Get goods position
Figure BDA0003680302730000101
And delivery location
Figure BDA0003680302730000102
All belong to target robots r i Delivery route point set of
Figure BDA0003680302730000103
The fourth constraint may be expressed by the following equation:
Figure BDA0003680302730000104
the fifth constraint condition is as follows: in the delivery path point set, the pick-up position of the same delivery task is positioned before the delivery position.
If task a is dispatched j Delivery location of
Figure BDA0003680302730000105
For dispatching the x-th element in the path point set
Figure BDA0003680302730000106
Goods taking position
Figure BDA0003680302730000107
The fifth constraint may be expressed by the following formula without being located after the position, i.e. the robot cannot go to the delivery position of the delivery task before the pick-up position:
Figure BDA0003680302730000108
the sixth constraint: the total number of elements in the dispatching path point set contained in the dispatching path is 2 times of the dispatching task number executed by the corresponding target robot.
Namely the target robot r i Delivery route point set of
Figure BDA0003680302730000109
Total number of elements in equal to robot r i The sixth constraint may be expressed by the following formula, which is responsible for 2 times the number of dispatch tasks to be performed:
Figure BDA00036803027300001010
the application provides a new dispatch path planning scheme which disturbs the positions that the robot needs to pass through in executing dispatch tasks. As shown in fig. 2, the robot starts from the initial position, and then sequentially passes through the pick-up position of the dispatching task 1, the pick-up position of the dispatching task 2, the pick-up position of the dispatching task 3, the delivery position of the dispatching task 2, and the delivery position of the dispatching task 1, and finally returns to the initial position. Wherein the trolley in the figure represents a robot, the squares represent goods (pick-up locations) and the asterisks represent delivery locations.
Fig. 2 is a schematic diagram illustrating a dispatch path of a single robot multitasking dispatch, where y continues the dispatch path planning method, when multiple robots are involved, each robot corresponds to a dispatch path, and multiple dispatch paths constitute a target path planning result.
The multi-robot multitask dispatching method provided by the embodiment of the application is described in a specific example with reference to a path planning result diagram shown in fig. 3.
Assuming 5 dispatch tasks, 3 robots, two task allocation schemes are shown on the left side of fig. 3, denoted as scheme 1 and scheme 2. In the scheme 1, a robot 1 executes a dispatching task 5, a robot 2 executes a dispatching task 2 and a dispatching task 4, and a robot 3 executes the dispatching task 1; in the scheme 2, the robot 1 does not execute the dispatch task, the robot 2 executes the dispatch task 2, the dispatch task 3 and the dispatch task 4, and the robot 3 executes the dispatch task 1 and the dispatch task 5.
The first two items on the right side of fig. 3 are two possible dispatch paths corresponding to scenario 1, and the last item on the right side of fig. 3 is one possible dispatch path corresponding to scenario 2.
The multi-robot multi-task dispatching method provided by the embodiment of the application is based on preset constraint parameters such as dispatching income, dispatching time spent on dispatching and priority sequencing of the number of dispatched robots, and a target function corresponding to the corresponding constraint parameters is called to screen a path planning result set of a plurality of dispatching tasks executed by a plurality of robots, so that a target path planning result is obtained; and then controlling each target robot to execute a dispatching task according to the corresponding dispatching path. The multi-robot multi-task dispatching method provided by the embodiment of the invention comprehensively considers the dispatching profit, the dispatching efficiency and the factors of the number and the dimensions of the dispatched robots, and finally determines a target path planning result, and the determined target path planning result can ensure that the dispatching efficiency and the dispatching profit of each robot are maximized, namely, fewer robots can spend less time to complete more dispatching tasks, the dispatching efficiency is improved, and the dispatching cost is saved.
Fig. 4 is a block diagram of a multi-robot multitask dispatching device for implementing the embodiment of the present application.
The multi-robot multitask dispatching device comprises the following functional modules:
a first determining module 401, configured to determine a plurality of dispatch tasks to be processed and a plurality of robots to be dispatched;
a second determining module 402, configured to determine a priority of each path planning constraint parameter, where the path planning constraint parameters include at least two of the following: dispatching income, dispatching time spent on dispatching and the number of dispatching robots, wherein each constraint parameter corresponds to an objective function;
the screening module 403 is configured to sequentially call, according to the order from high priority to low priority, target functions corresponding to the constraint parameters to screen a path planning result set of the multiple robots executing the multiple dispatch tasks, so as to obtain a target path planning result; wherein the target path planning result comprises: the dispatching task corresponding to each target robot and the dispatching path of each target robot;
and a control module 404, configured to control each target robot to execute a dispatch task according to the corresponding dispatch path.
Optionally, the screening module comprises:
the first screening submodule is used for solving a first objective function corresponding to the dispatching income on the basis of a preset dispatching income constraint condition under the condition that the dispatching income, the dispatching time length and the number of the dispatching robots are sequentially ranked from high to low to obtain a first path planning result of the plurality of dispatching tasks executed by the plurality of robots;
the second screening submodule is used for solving a second objective function corresponding to the dispatching spending time based on a preset dispatching spending time minimization constraint condition under the condition that the number of the first path planning results is larger than 1, and screening out a second path planning result from the first planning result;
and the third screening submodule is used for solving a third objective function corresponding to the number of the allocation robots based on a preset minimum constraint condition of the number of the allocation robots under the condition that the second path planning result is larger than 1, and screening a target path planning result from the second path planning result.
Optionally, when each target robot executes a dispatch task according to the corresponding dispatch path, each target robot satisfies the following constraint condition:
the first constraint condition is: goods dispatched by each target robot do not have intersection;
the second constraint condition is as follows: the total amount of goods delivered by the target robot is less than or equal to the bearing capacity of the target robot;
the third constraint condition is as follows: the volume of the target robot is larger than or equal to the sum of the volumes of goods dispatched by the target robot.
Optionally, when each target robot executes a dispatch task according to a corresponding dispatch path, each dispatch path satisfies the following constraint condition:
the fourth constraint condition is as follows: the goods taking position and the goods delivering position of each delivering task in the delivering path belong to the delivering path point set of the target robot; each picking position or delivery position is regarded as one element of the delivery path point set;
the fifth constraint condition is as follows: in the delivery path point set, the pick-up position of the same delivery task is positioned in front of the delivery position;
the sixth constraint: the total number of elements in the dispatching path point set contained in the dispatching path is 2 times of the dispatching task number executed by the corresponding target robot.
Optionally, the objective function corresponding to each constraint parameter needs to satisfy a preset electric quantity constraint condition:
the total electric quantity consumed by the target robot for executing the dispatching task according to the dispatching path is less than or equal to the remaining total electric quantity of the target robot;
wherein the total amount of power includes: the electric quantity consumed by moving to the goods taking position, the electric quantity consumed by moving to the goods delivering position, the electric quantity consumed when the goods are taken and stopped and the electric quantity consumed when the goods are delivered and stopped.
The multi-robot multi-task dispatching device provided by the embodiment of the application comprehensively considers dispatching income, dispatching efficiency and the factors of multiple dimensionalities of the number of dispatched robots, finally determines a target path planning result, and the determined target path planning result can ensure that the dispatching efficiency of each robot is maximized and the dispatching income is maximized, namely, fewer robots can spend less time to complete more dispatching tasks, the dispatching efficiency is improved, and the dispatching cost is saved.
In the embodiment of the present application, the multi-robot multitasking dispatching device shown in fig. 4 may be a device, or may be a component, an integrated circuit, or a chip in a server. The human body posture detection device shown in fig. 2 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which is not specifically limited in the embodiment of the present application.
The multi-robot multitask dispatching device shown in fig. 5 provided in the embodiment of the present application can implement each process implemented in the embodiment of the method shown in fig. 1, and is not described here again to avoid repetition.
Optionally, as shown in fig. 5, an electronic device 500 is further provided in this embodiment of the present application, and includes a processor 501, a memory 502, and a program or an instruction stored in the memory 502 and executable on the processor 501, where the program or the instruction is executed by the processor 501 to implement each process of the foregoing multi-robot multi-task dispatch method embodiment, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here.
It should be noted that the electronic device in the embodiment of the present application includes the server described above.
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the above-mentioned multi-robot multitask dispatch method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a program or an instruction to implement each process of the above-mentioned embodiment of the multi-robot multitask dispatch method, and the same technical effect can be achieved, and in order to avoid repetition, details are not repeated here.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.
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, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (11)

1. A multi-robot multitask dispatch method, said method comprising:
determining a plurality of dispatching tasks to be processed and a plurality of robots to be deployed;
determining the priority of each path planning constraint parameter, wherein the path planning constraint parameters comprise at least two of the following: dispatching income, dispatching time spent on dispatching and the number of dispatching robots, wherein each constraint parameter corresponds to an objective function;
sequentially calling a target function corresponding to each constraint parameter according to the sequence of the priority from high to low to screen a path planning result set of the plurality of dispatching tasks executed by the plurality of robots, so as to obtain a target path planning result; wherein the target path planning result comprises: the dispatching task corresponding to each target robot and the dispatching path of each target robot;
and controlling each target robot to execute a dispatching task according to the corresponding dispatching path.
2. The method according to claim 1, wherein under the condition that the dispatching profit, the dispatching duration and the priorities for dispatching the number of robots are sequentially ranked from high to low, the step of sequentially calling the objective functions corresponding to the constraint parameters to screen the path planning result sets of the plurality of robots for executing the dispatching tasks according to the order from high to low to obtain the target path planning result comprises:
solving a first objective function corresponding to the dispatching income based on a preset dispatching income constraint condition to obtain a first path planning result of the plurality of robots for executing the plurality of dispatching tasks;
under the condition that the number of the first path planning results is larger than 1, solving a second objective function corresponding to the dispatching time based on a preset dispatching time minimization constraint condition, and screening out a second path planning result from the first planning result;
and under the condition that the second path planning result is larger than 1, solving a third objective function corresponding to the number of the allocation robots based on a preset minimum constraint condition of the number of the allocation robots, and screening a target path planning result from the second path planning result.
3. The method according to claim 1, wherein each target robot satisfies the following constraints when performing the dispatching task according to the corresponding dispatching path:
the first constraint condition is: goods dispatched by each target robot do not have intersection;
the second constraint condition is as follows: the total amount of goods dispatched by the target robot is less than or equal to the weight bearing of the target robot;
the third constraint condition is as follows: the volume of the target robot is larger than or equal to the sum of the volumes of goods delivered by the target robot.
4. The method according to claim 1, wherein each of the dispatching paths satisfies the following constraint when each of the target robots executes the dispatching tasks according to the corresponding dispatching path:
the fourth constraint condition is as follows: the goods taking position and the goods delivering position of each delivering task in the delivering path belong to the delivering path point set of the target robot; wherein each pick-up location or delivery location is considered an element of the set of delivery waypoints;
the fifth constraint condition is as follows: in the delivery path point set, the goods taking position of the same delivery task is positioned in front of the goods delivery position;
the sixth constraint: the total number of elements in the dispatching path point set contained in the dispatching path is 2 times of the number of dispatching tasks executed by the corresponding target robot.
5. The method of claim 1, wherein the objective function corresponding to each constraint parameter is required to satisfy a preset electric quantity constraint condition:
the total electric quantity consumed by the target robot for executing the dispatching task according to the dispatching path is less than or equal to the remaining total electric quantity of the target robot;
wherein the total amount of power includes: the power consumed by moving to the pick-up position, the power consumed by moving to the delivery position, the power consumed when the pick-up stays and the power consumed when the delivery stays.
6. A multi-robot multitask dispatch device, said device comprising:
the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining a plurality of dispatching tasks to be processed and a plurality of robots to be deployed;
a second determining module, configured to determine a priority of each path planning constraint parameter, where the path planning constraint parameters include at least two of the following: dispatching income, dispatching time spent on dispatching and the number of dispatching robots, wherein each constraint parameter corresponds to an objective function;
the screening module is used for sequentially calling the target functions corresponding to the constraint parameters to screen the path planning result sets of the multiple delivery tasks executed by the multiple robots according to the sequence of the priority levels from high to low so as to obtain target path planning results; wherein, the target path planning result comprises: the dispatching task corresponding to each target robot and the dispatching path of each target robot;
and the control module is used for controlling each target robot to execute the dispatching task according to the corresponding dispatching path.
7. The apparatus of claim 6, wherein the screening module comprises:
the first screening submodule is used for solving a first objective function corresponding to the dispatching income on the basis of a preset dispatching income constraint condition under the condition that the dispatching income, the dispatching time length and the number of the dispatching robots are sequentially ranked from high to low to obtain a first path planning result of the plurality of dispatching tasks executed by the plurality of robots;
the second screening submodule is used for solving a second objective function corresponding to the dispatching time length on the basis of a preset dispatching time length minimization constraint condition under the condition that the number of the first path planning results is greater than 1, and screening a second path planning result from the first planning result;
and the third screening submodule is used for solving a third objective function corresponding to the number of the allocation robots based on a preset minimum constraint condition of the number of the allocation robots under the condition that the second path planning result is larger than 1, and screening a target path planning result from the second path planning result.
8. The apparatus of claim 6, wherein each target robot satisfies the following constraints when performing the dispatching task according to the corresponding dispatching path:
the first constraint condition is: goods dispatched by each target robot do not have intersection;
the second constraint condition is as follows: the total amount of goods delivered by the target robot is less than or equal to the bearing capacity of the target robot;
the third constraint condition is as follows: the volume of the target robot is larger than or equal to the sum of the volumes of goods dispatched by the target robot.
9. The apparatus according to claim 6, wherein each of the dispatching paths satisfies the following constraint conditions when each of the target robots executes the dispatching tasks according to the corresponding dispatching paths:
the fourth constraint condition is as follows: the goods taking position and the goods delivering position of each delivering task in the delivering path belong to the delivering path point set of the target robot; wherein each pick-up location or delivery location is considered an element of the set of delivery waypoints;
the fifth constraint condition is as follows: in the delivery path point set, the pick-up position of the same delivery task is positioned in front of the delivery position;
the sixth constraint condition is: the total number of elements in the dispatching path point set contained in the dispatching path is 2 times of the dispatching task number executed by the corresponding target robot.
10. The apparatus of claim 6, wherein the objective function corresponding to each constraint parameter is required to satisfy a preset electric quantity constraint condition:
the total electric quantity consumed by the target robot for executing the dispatching task according to the dispatching path is less than or equal to the remaining total electric quantity of the target robot;
wherein the total amount of power includes: the electric quantity consumed by moving to the goods taking position, the electric quantity consumed by moving to the goods delivering position, the electric quantity consumed when the goods are taken and stopped and the electric quantity consumed when the goods are delivered and stopped.
11. An electronic device comprising a processor, a memory, and a program or instructions stored on the memory and executable on the processor, which program or instructions, when executed by the processor, implement the steps of the multi-robot multitask dispatch method according to any one of claims 1-5.
CN202210631731.0A 2022-06-06 2022-06-06 Multi-robot multi-task dispatching method and device and electronic equipment Pending CN114997650A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115609608A (en) * 2022-12-02 2023-01-17 北京国安广传网络科技有限公司 All-weather health management robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115609608A (en) * 2022-12-02 2023-01-17 北京国安广传网络科技有限公司 All-weather health management robot

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