CN115046563A - Method, apparatus, storage medium, and program product for generating travel route allocation plan - Google Patents
Method, apparatus, storage medium, and program product for generating travel route allocation plan Download PDFInfo
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Abstract
An embodiment of the invention provides a method for generating a driving route distribution scheme, electronic equipment, a storage medium and a computer program product, wherein the method comprises the following steps: the method comprises the steps of obtaining the utilization rate of each robot in a robot set, obtaining the respective driving times demands of a plurality of driving routes, wherein the utilization rate is used for representing: the running efficiency of the robot under the condition that at least the time consumed by line switching of the robot is considered; generating a driving route distribution scheme according to the utilization rate of each robot in the robot set and the respective driving times of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme at least comprises the following steps: the number N of robots to be used, and the N sets of routes to be traveled. Therefore, the embodiment of the invention can minimize the number of required robots, save the factory cost, generate the set of the routes to be traveled of each robot and facilitate the efficient completion of each subsequent travel route.
Description
Technical Field
Embodiments of the present invention relate to the field of information processing, and in particular, to a method for generating a driving route allocation scheme, an electronic device, a storage medium, and a computer program product.
Background
With the upgrade of manufacturing industry, the application of intelligent equipment in factories is more and more extensive, and in many intelligent factory scenes, a plurality of intelligent robots are needed to complete route tasks. Therefore, in order to enable the intelligent robot to work efficiently, the driving route of the robot needs to be intelligently planned, and a driving route distribution scheme of the robot is generated so as to maximize the utilization degree of the robot, thereby reducing the number of necessary robots to the greatest extent and reducing the cost.
Therefore, a method for generating a driving route allocation plan capable of improving the utilization degree of the robot is needed.
Disclosure of Invention
The embodiment of the invention provides a driving route distribution scheme generation method, electronic equipment, a storage medium and a computer program product, which are used for improving the utilization degree of a robot.
The first aspect of the embodiments of the present invention provides a method for generating a driving route allocation scheme, where the method includes:
the method comprises the steps of obtaining the utilization rate of each robot in a robot set, obtaining the respective driving times demands of a plurality of driving routes, wherein the utilization rate is used for representing: the running efficiency of the robot under the condition that at least the time consumed by line switching of the robot is considered;
generating a driving route distribution scheme according to the utilization rate of each robot in the robot set and the respective driving times of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme at least comprises the following steps: the number N of robots to be used, and N sets of routes to be traveled.
Optionally, in a case that the utilization rates of the respective robots in the robot set are the same, the method further includes:
and issuing any one of the N route sets to be driven to any robot in the robot set.
Optionally, in a case that the utilization rates of the robots in the robot set are different, the driving route allocation scheme further includes: the utilization rates of the N route sets to be driven corresponding to each other;
the method further comprises the following steps:
and aiming at each route set to be driven, issuing the route set to be driven to the robot with the utilization rate in the robot set according to the utilization rate corresponding to the route set to be driven.
Optionally, the method further comprises:
acquiring a travelable route of each robot in a robot set;
generating a driving route distribution scheme according to the utilization rate of each robot in the robot set and the respective driving times demands of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme comprises the following steps:
generating a driving route distribution scheme according to the utilization rate and the drivable route of each robot in the robot set and the respective driving times requirements of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme further comprises: the robots are respectively corresponding to the N route sets to be driven, wherein each driving route in each route set to be driven is a drivable route of the robot corresponding to the route set to be driven;
the method further comprises the following steps:
and distributing each route set to be traveled to the robot corresponding to the route set to be traveled.
Optionally, the method further comprises:
obtaining estimated running time of each of the plurality of running routes;
determining the actual running time of each robot for each running route according to the utilization rate of each robot in the robot set and the respective estimated running time of the running routes;
generating a driving route distribution scheme according to the utilization rate of each robot in the robot set and the respective driving times demands of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme comprises the following steps:
and generating a running route distribution scheme according to the actual running time of each running route of each robot and the respective running times of the running routes by taking the minimum number of robots required to be used as a target.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to at least one of a route switching time, a traffic control time and a charging efficiency of the robot.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total avoidance duration to the total travel duration of the robot as the traffic control time consumption ratio of the robot according to the historical travel record of the robot;
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot, the charging efficiency of the robot and/or the traffic control time consumption ratio.
Optionally, the constraints used to generate the driving route allocation plan include at least one of:
the travelable route of each robot is a route in a physical space where the robot is located, and the route is a constraint condition;
and taking the driving time length required by each route set to be driven not to exceed the target time length as a constraint condition.
Optionally, generating the driving route allocation plan is performed by solving the following integer linear programming equation:
the objective function is: sigma min j ind j
The constraint conditions are as follows:
wherein x is ij Is 0 or 1, which indicates whether the ith line is allocated to the jth robot to execute; l represents a set of a plurality of travel routes; t represents a robot set; ind- j Is 0 or 1, which indicates whether the jth robot is used or not; m represents a large number; d ik And representing the requirement of the number of driving times of the ith driving route.
A second aspect of an embodiment of the present invention provides a driving route allocation plan generating device, where the device includes:
the first obtaining module is used for obtaining the utilization rate of each robot in the robot set and obtaining the respective driving times demands of a plurality of driving routes, and the utilization rate is used for representing: the running efficiency of the robot under the condition that at least the time consumed for switching the line of the robot is considered;
a generating module, configured to generate a driving route distribution scheme according to a utilization rate of each robot in the robot set and respective driving times requirements of the plurality of driving routes, with a minimum number of robots that need to be used as a target, where the driving route distribution scheme at least includes: the number N of robots to be used, and the N sets of routes to be traveled.
Optionally, in a case that the utilization rates of the respective robots in the robot set are the same, the apparatus further includes:
and the first issuing module is used for issuing any one of the N route sets to be traveled to any one of the robots in the robot set.
Optionally, in a case that the utilization rates of the robots in the robot set are different, the driving route allocation scheme further includes: the utilization rates of the N route sets to be driven are respectively corresponding;
the device further comprises:
and the second issuing module is used for issuing each route set to be driven to the robot with the utilization rate in the robot set according to the utilization rate corresponding to the route set to be driven.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring a travelable route of each robot in the robot set;
the generation module is specifically configured to:
generating a driving route distribution scheme according to the utilization rate and the drivable route of each robot in the robot set and the respective driving times requirements of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme further comprises: the robots are respectively corresponding to the N route sets to be driven, wherein each driving route in each route set to be driven is a drivable route of the robot corresponding to the route set to be driven;
the device further comprises:
and the distribution module is used for distributing each route set to be traveled to the robot corresponding to the route set to be traveled.
Optionally, the apparatus further comprises:
the third obtaining module is used for obtaining the estimated running time of each of the plurality of running routes;
the determining module is used for determining the actual running time of each robot for each running route according to the utilization rate of each robot in the robot set and the respective estimated running time of the running routes;
the generation module is specifically configured to:
and generating a running route distribution scheme according to the actual running time of each running route of each robot and the respective running times of the running routes by taking the minimum number of robots required to be used as a target.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to at least one of a route switching time, a traffic control time, and a charging efficiency of the robot.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total time spent on the running route of the robot to the total running time as the line switching time-consuming ratio of the robot according to the historical running record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total avoidance duration to the total travel duration of the robot as the traffic control time consumption ratio of the robot according to the historical travel record of the robot;
determining the ratio of the total time spent on the running route of the robot to the total running time as the line switching time-consuming ratio of the robot according to the historical running record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot, the charging efficiency of the robot and/or the traffic control time consumption ratio.
Optionally, the constraint used to generate the driving route allocation plan includes at least one of:
the travelable route of each robot is a route in a physical space where the robot is located, and the route is a constraint condition;
and taking the driving time length required by each route set to be driven not to exceed the target time length as a constraint condition.
Optionally, generating the driving route allocation plan is performed by solving the following integer linear programming equation:
the objective function is: sigma min j ind j
The constraint conditions are as follows:
wherein x is ij Is 0 or 1, indicates whether to divide the ith line intoAllocating a jth robot to execute; l represents a set of a plurality of travel routes; t represents a robot set; ind j Is 0 or 1, which indicates whether the jth robot is used or not; m represents a large number; d ik And representing the requirement of the number of driving times of the ith driving route.
A third aspect of the embodiments of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory, where the processor executes the computer program to implement the method for generating a driving route allocation plan according to the first aspect of the present invention.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, on which a computer program/instructions are stored, which, when executed by a processor, implement the driving route distribution scheme generation method according to the first aspect of the present invention.
A fifth aspect of the embodiments of the present invention provides a computer program product, which includes a computer program/instruction, and when the computer program/instruction is executed by a processor, the computer program/instruction implements the method for generating a driving route distribution scheme according to the first aspect of the present invention.
In the embodiment of the invention, the number of the robots and the plurality of the driving routes are planned and the driving route distribution scheme is generated based on the utilization rate of the robots and the respective driving times of the plurality of the driving routes in a global consideration, so that the number of the required robots can be minimized, the capacity provided by each robot can be utilized to the maximum extent, and the purpose of saving the factory cost is achieved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a flow chart of a method of generating a driving route allocation plan in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of another method of generating a driving route allocation plan in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of another method of generating a driving route allocation plan in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of another method of generating a driving route allocation plan in accordance with an embodiment of the present invention;
FIG. 5 is a flow chart of another method of generating a driving route allocation plan in accordance with an embodiment of the present invention;
fig. 6 is a block diagram showing a configuration of a travel route assignment scenario generation apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement for transformation and upgrading of the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, Global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, storing and taking, sorting, packaging, sorting, ex-warehouse, checking, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) the AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of labor; 2) the labor efficiency is improved through software systems such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation optimization and the like. With the research and development of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electronic commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textiles, food and the like.
In many intelligent factory scenes, a plurality of intelligent robots are required to complete a route driving task, so that the number of the robots and the driving routes of the robots need to be planned, and in the related art, a commonly adopted method is as follows: and for each route, dividing the required route task quantity by the transport capacity provided by a single robot, and rounding up to obtain the number of the robots required by the route. However, this method may result in wasted robot capacity.
Based on this, the present invention proposes a driving route distribution plan generating method, and referring to fig. 1, a flowchart of a driving route distribution plan generating method according to an embodiment of the present invention is shown, the method including the following steps S101 and S102.
S101, obtaining the utilization rate of each robot in the robot set, and obtaining the running times requirement of each of a plurality of running routes.
In the embodiment of the present invention, the utilization rate is used for characterizing: the running efficiency of the robot is considered under the condition that at least the time consumed for switching the line of the robot is considered.
In an actual plant logistics work environment, there are generally a plurality of physical spaces, and a certain number of robots are equipped in each physical space for performing route traveling tasks of respective traveling routes. There are multiple driving routes in the same physical space, and each driving route can be executed by multiple robots at the same time.
In the embodiment of the invention, after each robot finishes one driving route, other driving routes can be selected and executed.
In the embodiment of the invention, the running route distribution scheme can be generated aiming at a plurality of running routes of one physical space, and the running route distribution scheme can also be generated aiming at a plurality of running routes of a plurality of physical spaces for unified planning.
In the embodiment of the invention, each driving route has a corresponding driving frequency requirement which represents the required driving frequency. In the embodiment of the invention, the requirement of the driving times of each driving route in the current day can be determined before a factory starts working, and the driving route distribution scheme is generated according to the requirement and the utilization rate of each robot. In the embodiment of the invention, the requirement of the driving times of each driving route in one hour can be determined according to a preset cycle (for example, one hour), and a plurality of to-be-driven route sets are generated according to the requirement and the utilization rate of each robot, so as to obtain a cycle-cycle driving route distribution scheme.
In the embodiment of the present invention, for each robot in the robot set, the utilization rate of the robot is determined according to at least one of the route switching time, the traffic control time, and the charging efficiency of the robot.
In the embodiment of the invention, the time consumed for switching the route refers to the time consumed by the robot when the robot is switched from the route A to the route B. The time consumed by traffic control refers to the time consumed by avoiding and waiting possibly generated when the robot performs a route task in a physical space.
In practical application, the robot needs to be charged after the electricity is exhausted in the process of executing the route task. In the embodiment of the invention, the charging efficiency of the robot can be determined according to the charging time and the driving time of the robot. For example, if the robot takes 10 minutes when fully charged, and the charge can support the robot to travel for 40 minutes, the charging efficiency of the robot is 80%.
In an alternative embodiment of the present invention, for each robot in the robot set, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot.
In the embodiment of the invention, because the fixed limit of the running route of the robot is cancelled, the running route distribution scheme of the robot can comprise a plurality of running routes, and therefore, when the robot is switched from the route A to the route B, the route switching time is consumed, and the actual utilization rate of the robot is influenced. Therefore, in the embodiment of the invention, the time consumption of the route switching of the robot is considered when the utilization rate of the robot is determined.
In an alternative embodiment of the present invention, for each robot in the robot set, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total avoidance duration to the total travel duration of the robot as the traffic control time consumption ratio of the robot according to the historical travel record of the robot;
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot, the charging efficiency of the robot and/or the traffic control time consumption ratio.
According to the embodiment of the invention, the route switching time consumption ratio and the traffic control time consumption ratio can be estimated in advance according to the historical driving record of the robot, and the route switching time consumption ratio and the traffic control time consumption ratio are used as fixed parameters for subsequent calculation.
S102, aiming at the minimum number of robots needing to be used, generating a running route distribution scheme according to the utilization rate of each robot in the robot set and the running times requirement of each running route.
In the embodiment of the present invention, each driving route allocation plan at least includes: the number N of robots to be used, and the N sets of routes to be traveled.
In the embodiment of the invention, when the running route distribution scheme is generated, the running route distribution scheme can be generated according to the utilization rate of each robot and the running frequency requirement of each of a plurality of running routes. Therefore, in the embodiment of the invention, on the premise that the robots can switch routes, by taking the minimum number of robots as a target, a plurality of robots N required by the times that all driving routes need to be executed after execution can be determined, and N sets of routes to be driven are obtained.
In an optional embodiment of the present invention, when the utilization rates of the robots in the robot set are the same, after the driving route allocation scheme is obtained, any one of the N to-be-driven route sets may be issued to any one of the robots in the robot set.
In an optional embodiment of the present invention, in a case that the utilization rates of the respective robots in the robot set are different, the driving route allocation scheme further includes: the utilization rates of the N route sets to be driven are respectively corresponding;
the method further comprises the following steps:
and aiming at each route set to be driven, issuing the route set to be driven to the robot with the utilization rate in the robot set according to the utilization rate corresponding to the route set to be driven.
In the embodiment of the invention, when the utilization rates of the robots are different, each set of routes to be traveled in the generated travel route allocation scheme corresponds to the utilization rate of the robot, so that the set of routes to be traveled can be issued to the robot with the utilization rate in the robot set according to the utilization rate corresponding to the set of routes to be traveled.
Wherein, the generation of the driving route distribution scheme is realized by solving the following integer linear programming equation:
the objective function is: sigma min j ind j
The constraint conditions are as follows:
wherein x is ij Is 0 or 1, which indicates whether the ith line is allocated to the jth robot to execute; l represents a set of a plurality of travel routes; t represents a robot set; ind- j Is 0 or 1, which indicates whether the jth robot is used or not; m represents a large number; d ik And the requirement of the number of driving times of the ith driving route is represented.
In the embodiment of the invention, the number of the robots and the plurality of the driving routes are planned and the driving route distribution scheme is generated based on the utilization rate of the robots and the respective driving times of the plurality of the driving routes in a global consideration, so that the number of the required robots can be minimized, the capacity provided by each robot can be utilized to the maximum extent, and the purpose of saving the factory cost is achieved.
In the embodiment of the present invention, the constraint conditions used for generating the driving route allocation plan include at least one of the following conditions:
the travelable route of each robot is a route in a physical space where the robot is located, and the route is a constraint condition;
and taking the driving time length required by each route set to be driven not to exceed the target time length as a constraint condition.
In an actual application process, when a driving route allocation scheme is generated, it may be necessary to perform unified planning on routes of a plurality of physical spaces, and meanwhile, since the distance between the physical spaces is long, the robot performs a task across the physical spaces, which may cause a reduction in the utilization rate of the robot, so that physical space constraint is required when the driving route allocation scheme is generated, specifically, in an optional embodiment of the present invention, a flowchart of another driving route allocation scheme generation method is provided, as shown in fig. 2, the method includes the following steps:
s201, obtaining the utilization rate of each robot in the robot set, and obtaining the running times requirement of each of a plurality of running routes.
This step is similar to step S101, and the embodiment of the present invention is not described herein again.
S202, acquiring the respective identifications and the respective physical spaces of the multiple robots, and acquiring the respective physical spaces of the multiple driving routes.
In the embodiment of the present invention, the physical space where the robot is located may be understood as an independent space, for example: workshops, plants, etc.
In the embodiment of the invention, in consideration of higher difficulty and lower efficiency of completing the driving route across the physical space in practical application, each robot is set to move only in the physical space where the robot is located, and the driving route in the physical space where the robot is located is executed.
S203, aiming at the minimum number of robots needing to be used, and taking the route of each robot in the physical space where only the robot can be executed as a constraint, generating a running route distribution scheme according to the utilization rate of each robot in the robot set and the running times requirement of each running route.
In the embodiment of the invention, when the route set to be traveled corresponding to each of a plurality of robots is determined, the route in the physical space where each robot can only execute the robot is taken as the constraint condition, the physical space constraint is carried out, and the travel route which can be played by the robot is limited. And the physical spaces of the driving routes are distinguished, and finally, the driving route lists of different physical spaces and the corresponding robots can be obtained.
Specifically, in the embodiment of the present invention, a plurality of robots required to complete the number of times that all travel routes need to be traveled and a set of routes to be traveled corresponding to each of the plurality of robots may also be determined by using an integer linear programming equation, where a physical space constraint condition may be expressed as:
wherein s is j And identifying the physical space to which the jth robot belongs.
In the embodiment of the invention, when the driving route distribution scheme is generated, a plurality of driving routes in different physical spaces can be planned at the same time, and physical space constraint is carried out, so that the situation that a driving route list corresponding to a robot crosses a physical space can be avoided under the condition that a plurality of driving routes in the physical spaces are planned.
In an actual application process, when generating a driving route allocation plan, since robots have different models, executable tasks may also be different, and accordingly, executable routes of each robot are different, in this case, a route constraint is required to be performed when generating the driving route allocation plan, specifically, in an alternative embodiment of the present invention, a flowchart of another driving route allocation plan generating method is provided, as shown in fig. 3, the method includes the following steps:
s301, acquiring the utilization rate of each robot in the robot set, and acquiring the running times requirement of each of a plurality of running routes.
This step is similar to step S101, and is not described herein again.
S302, acquiring a travelable route of each robot in the robot set.
In the embodiment of the present invention, the robot drives the driving route to perform related tasks, such as a carrying task and a sorting task.
In the embodiment of the present invention, considering that the robots have different models, the executable tasks may be different, and accordingly, the driving routes that each robot can accomplish are different, for example: the robot of the type A can execute the carrying task, the tasks corresponding to the routes a and b are the carrying tasks, and the executable routes of the robot of the type A are collected as a and b.
And S303, generating a running route distribution scheme according to the utilization rate of each robot in the robot set and the running times requirements of the running routes by taking the minimum number of the robots needing to be used as a target and taking each robot only capable of executing the corresponding executable task as a constraint condition.
In the embodiment of the invention, when the route set to be traveled corresponding to each of a plurality of robots is determined, the route constraint is carried out by taking the route in the executable route set corresponding to each robot, which is only executable by the robot, as the constraint condition, and the travel route executable by the robot is limited. And finally obtaining a set of routes to be driven corresponding to each robot.
Specifically, in the embodiment of the present invention, a plurality of robots required to execute the number of times that all the travel routes need to be executed may also be determined by using an integer linear programming equation, and a set of routes to be traveled corresponding to each of the plurality of robots. Among them, the route constraint can be expressed as:
x ij ≤y ij ,i＝1,…,|L|,j＝1,…,|T|
wherein, y ij Is 0 or 1, indicating whether the jth robot can execute the ith driving route.
And S304, distributing each route set to be traveled to the robot corresponding to the route set to be traveled.
In the embodiment of the invention, when the driving route distribution scheme is generated, the executable route set of each robot is considered, so that the determined multiple to-be-driven route sets can be accurately adapted to each selected robot.
In practical applications, when a driving route allocation plan is generated, in order to reduce the amount of calculation, each route task may be divided according to a cycle period to obtain a driving frequency requirement for each of a plurality of driving routes in a unit time, and a driving route allocation plan in the unit time is generated based on the requirement, so as to obtain a driving route allocation plan that can be cycled periodically, in which case, a time length constraint is required when the driving route allocation plan is generated, specifically, in an optional implementation manner of the present invention, a flowchart of another driving route allocation plan generation method is provided, as shown in fig. 4, in an embodiment of the present invention, a cycle period of the driving route allocation plan generation method is a target time length, and the method includes the following steps:
s401, acquiring the utilization rate of each robot in the robot set, and acquiring the respective driving times of a plurality of driving routes.
In the embodiment of the invention, the target duration is taken as the cycle period, and the running route distribution scheme is determined, so that the robot can circularly execute the corresponding set of the routes to be run according to the cycle period. Correspondingly, in the embodiment of the present invention, the number of times that the driving route needs to be executed may also be calculated in units of the cycle period, so as to determine the number of times that the driving route needs to be executed in the target time length.
S402, with the minimum number of robots needing to be used as a target and the running time required by each route set to be run not exceeding the target time as a constraint condition, generating a running route distribution scheme according to the utilization rate of each robot in the robot set and the running time requirements of the multiple running routes.
In the embodiment of the invention, when the route set to be traveled corresponding to each of the multiple robots is determined, the target time length of the cycle is taken as the constraint condition to carry out time length constraint, so that the route set to be traveled corresponding to each robot in unit time can be determined.
Specifically, in the embodiment of the present invention, a plurality of robots required for completing the driving times requirement of each of the plurality of driving routes and a set of to-be-driven routes corresponding to the plurality of robots may also be determined by using an integer linear programming equation. Wherein, the duration constraint condition can be expressed as:
wherein,
cost i the actual time consumption of the ith route is shown, and cap shows the target time length.
In the embodiment of the invention, after the target time length is taken as the cycle period and the corresponding to-be-driven route set of each robot in the time length is determined, each robot can be controlled to circularly execute the corresponding driving route by taking the target time length as the cycle period.
In the embodiment of the invention, the running route list required to be executed by each trolley can be accurately determined under the condition of maximizing the utilization degree of the total robot, the total time consumption of the distribution route of each robot does not exceed the time period, and the overtime influence of tasks caused by estimation errors is prevented.
In the embodiment of the present invention, the target duration may be preset in advance by a technician according to actual needs, and may be, for example, 1 hour.
In an alternative embodiment of the present invention, at least one of the above-mentioned physical space constraint, route constraint, and duration constraint may be considered at the same time when the driving route distribution scheme generation method is executed.
In an alternative embodiment of the present invention, a flowchart of another driving route allocation plan generating method is provided, as shown in fig. 5, in an embodiment of the present invention, the method includes the following steps:
s501, obtaining the utilization rate of each robot in the robot set, and obtaining the running times requirement of each running route.
This step is similar to step S101, and the embodiment of the present invention is not described herein again.
S502, obtaining the estimated running time of each of the plurality of running routes.
In the embodiment of the invention, the estimated running time of each running route can be obtained according to the route length of each running route and the average running speed of the robot, and the estimated running time of each running route is determined in advance and is fixed.
S503, determining the actual running time of each robot for each running route according to the utilization rate of each robot in the robot set and the respective estimated running time of the running routes.
In the embodiment of the invention, when the running route distribution scheme is generated, the actual time consumed by each robot when each running route is finished can be determined according to the utilization rate of each robot and the respective estimated running time of a plurality of running routes.
S504, aiming at the minimum number of robots needing to be used, generating a running route distribution scheme according to the actual running time of each running route of each robot and the running times of each running route.
In the embodiment of the invention, after the actual time consumed by each robot when completing each driving route is determined, linear planning can be performed according to the actual driving time and the respective driving times of a plurality of driving routes, so as to obtain the driving route distribution scheme.
Therefore, in the embodiment of the invention, on the premise that the robots can switch routes, the number of the robots is the minimum, a plurality of robots N required by the number of times that all the travel routes need to be executed can be determined, and N sets of routes to be traveled are obtained.
Based on the same inventive concept, the embodiment of the invention provides a driving route distribution scheme generation device. Referring to fig. 6, fig. 6 is a schematic diagram of a driving route allocation plan generating device according to an embodiment of the present invention.
As shown in fig. 6, the apparatus includes:
the first obtaining module 601 is configured to obtain a utilization rate of each robot in the robot set, and obtain a driving number requirement of each of a plurality of driving routes, where the utilization rate is used to characterize: the running efficiency of the robot under the condition that at least the time consumed by line switching of the robot is considered;
a generating module 602, configured to generate a driving route distribution scheme according to a utilization rate of each robot in the robot set and a driving frequency requirement of each of the plurality of driving routes, with a minimum number of robots that need to be used as a target, where the driving route distribution scheme at least includes: the number N of robots to be used, and N sets of routes to be traveled.
Optionally, in a case that the utilization rates of the respective robots in the robot set are the same, the apparatus further includes:
and the first issuing module is used for issuing any one to-be-driven route set in the N to-be-driven route sets to any one robot in the robot set.
Optionally, in a case that the utilization rates of the robots in the robot set are different, the driving route allocation scheme further includes: the utilization rates of the N route sets to be driven are respectively corresponding;
the device further comprises:
and the second issuing module is used for issuing the route set to be driven to the robot with the utilization rate in the robot set according to the utilization rate corresponding to the route set to be driven aiming at each route set to be driven.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring a travelable route of each robot in the robot set;
the generating module 602 is specifically configured to:
generating a driving route distribution scheme according to the utilization rate and the drivable route of each robot in the robot set and the respective driving times requirements of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme further comprises: the robots are respectively corresponding to the N route sets to be driven, wherein each driving route in each route set to be driven is a drivable route of the robot corresponding to the route set to be driven;
the device further comprises:
and the distribution module is used for distributing each route set to be traveled to the robot corresponding to the route set to be traveled.
Optionally, the apparatus further comprises:
the third acquisition module is used for acquiring the estimated driving time of each of the plurality of driving routes;
the determining module is used for determining the actual running time of each robot for each running route according to the utilization rate of each robot in the robot set and the respective estimated running time of the running routes;
the generating module 602 is specifically configured to:
and generating a running route distribution scheme according to the actual running time of each running route of each robot and the respective running times of the running routes by taking the minimum number of robots required to be used as a target.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to at least one of a route switching time, a traffic control time, and a charging efficiency of the robot.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot.
Optionally, for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total avoidance duration to the total travel duration of the robot as the traffic control time consumption ratio of the robot according to the historical travel record of the robot;
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot, the charging efficiency of the robot and/or the traffic control time consumption ratio.
Optionally, the constraint used to generate the driving route allocation plan includes at least one of:
the travelable route of each robot is a route in a physical space where the robot is located, and the route is a constraint condition;
and taking the driving time length required by each route set to be driven not to exceed the target time length as a constraint condition. Optionally, generating the driving route allocation plan is performed by solving the following integer linear programming equation:
the objective function is: sigma min j ind j
The constraint conditions are as follows:
wherein x is ij Is 0 or 1, which indicates whether the ith line is allocated to the jth robot to execute; l represents a set of a plurality of travel routes; t represents a robot set; ind- j Is 0 or 1, which indicates whether the jth robot is used; m represents a large number; d ik And representing the requirement of the number of driving times of the ith driving route.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory, and when the processor executes the steps of the method for generating a driving route allocation plan according to any one of the embodiments.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program/instruction is stored, and when the computer program/instruction is executed by a processor, the computer program/instruction implements the steps in the method for generating a driving route distribution scheme according to any of the above embodiments.
An embodiment of the present invention further provides a computer program product, which includes a computer program/instruction, and when the computer program/instruction is executed by a processor, the method for generating a driving route distribution scheme according to any of the embodiments is implemented.
The embodiments in the present specification are all described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same and similar between the embodiments may be referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. 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 terminal that comprises the element.
The method for generating a driving route allocation plan, the electronic device, the storage medium and the computer program product provided by the present invention are introduced in detail, and specific examples are applied in the text to explain the principles and embodiments of the present invention, and the descriptions of the above embodiments are only used to help understanding the method and the core ideas of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (13)
1. A travel route allocation plan generating method, characterized in that the method comprises:
the method comprises the steps of obtaining the utilization rate of each robot in a robot set, obtaining the respective driving times demands of a plurality of driving routes, wherein the utilization rate is used for representing: the running efficiency of the robot under the condition that at least the time consumed by line switching of the robot is considered;
generating a driving route distribution scheme according to the utilization rate of each robot in the robot set and the respective driving times of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme at least comprises the following steps: the number N of robots to be used, and N sets of routes to be traveled.
2. The travel route allocation plan generation method according to claim 1, wherein in a case where the utilization rates of the respective robots in the robot set are the same, the method further comprises:
and issuing any one of the N route sets to be driven to any robot in the robot set.
3. The travel route assignment scheme generation method according to claim 1, wherein in a case where the utilization rate of each robot in the robot set is different, the travel route assignment scheme further includes: the utilization rates of the N route sets to be driven are respectively corresponding;
the method further comprises the following steps:
and aiming at each route set to be driven, issuing the route set to be driven to the robot with the utilization rate in the robot set according to the utilization rate corresponding to the route set to be driven.
4. The travel route allocation plan generation method according to claim 1, characterized by further comprising:
acquiring a travelable route of each robot in a robot set;
generating a driving route distribution scheme according to the utilization rate of each robot in the robot set and the respective driving times demands of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme comprises the following steps:
generating a driving route distribution scheme according to the utilization rate and the drivable route of each robot in the robot set and the respective driving times requirements of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme further comprises: the robots are respectively corresponding to the N route sets to be driven, wherein each driving route in each route set to be driven is a drivable route of the robot corresponding to the route set to be driven;
the method further comprises the following steps:
and distributing each route set to be traveled to the robot corresponding to the route set to be traveled.
5. The travel route distribution scheme generation method according to any one of claims 1 to 4, characterized by further comprising:
obtaining estimated running time of each of the plurality of running routes;
determining the actual running time of each robot for each running route according to the utilization rate of each robot in the robot set and the respective estimated running time of the running routes;
generating a driving route distribution scheme according to the utilization rate of each robot in the robot set and the respective driving times demands of the plurality of driving routes by taking the minimum number of robots required to be used as a target, wherein the driving route distribution scheme comprises the following steps:
and generating a running route distribution scheme according to the actual running time of each running route of each robot and the respective running times of the running routes by taking the minimum number of robots required to be used as a target.
6. The travel route assignment scheme generation method according to any one of claims 1 to 5, wherein for each robot in the robot set, a utilization rate of the robot is determined according to at least one of a route switching time, a traffic control time, and a charging efficiency of the robot.
7. The travel route allocation plan generating method according to any one of claims 1 to 5, wherein for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot.
8. The travel route assignment scheme generation method according to any one of claims 1 to 5, wherein for each robot in the set of robots, the utilization rate of the robot is determined according to the following steps:
determining the ratio of the total avoidance duration to the total travel duration of the robot as the traffic control time consumption ratio of the robot according to the historical travel record of the robot;
determining the ratio of the total time spent on the driving route of the robot to the total driving time as the line switching time-consuming ratio of the robot according to the historical driving record of the robot;
and determining the utilization rate of the robot according to the line switching time consumption ratio of the robot, the charging efficiency of the robot and/or the traffic control time consumption ratio.
9. The travel route distribution scheme generation method according to any one of claims 1 to 7, wherein the constraint condition used for generating the travel route distribution scheme includes at least one of:
the travelable route of each robot is a route in a physical space where the robot is located, and the route is a constraint condition;
and taking the driving time length required by each route set to be driven not to exceed the target time length as a constraint condition.
10. The travel route distribution scheme generation method according to any one of claims 1 to 7, wherein the generation of the travel route distribution scheme is carried out by solving the following integer linear programming equation:
the objective function is: sigma min j ind j
The constraint conditions are as follows:
wherein x is ij The value of (1) is 0 or 1, which indicates whether the ith driving route is issued to the jth robot; l represents a set of the plurality of travel routes; t represents the robot set; ind- j Is 0 or 1, which indicates whether the jth robot is used or not; m represents a large number; d ik And representing the requirement of the number of driving times of the ith driving route.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the driving route allocation plan generating method according to any one of claims 1 to 10.
12. A computer-readable storage medium, on which a computer program/instructions are stored, characterized in that the computer program/instructions, when executed by a processor, implement the driving route distribution scenario generation method of any of claims 1-10.
13. A computer program product comprising a computer program/instructions, characterized in that the computer program/instructions, when executed by a processor, implement the driving route distribution scenario generation method of any of claims 1-10.
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