CN116822857A - Task allocation method, device, equipment and medium of non-idle distribution robot - Google Patents

Abstract

The disclosure relates to the technical field of robot distribution, and provides a task distribution method, device, equipment and medium of a non-idle distribution robot. The method comprises the following steps: receiving a target delivery task; when the initial position of the delivery robot does not have an idle delivery robot, acquiring the state of each delivery robot; determining the consumed time of returning the delivery robots to the initial position, and sequencing the delivery robots based on the consumed time to obtain a consumed time sequence; determining the coincidence ratio of a target running route of the target delivery task and the current running route of each delivery robot, and sequencing each delivery robot based on the coincidence ratio to obtain a coincidence ratio sequence; and integrating the time consumption sequence and the contact ratio sequence to determine the target delivery robot. In this embodiment, the distribution tasks are reasonably distributed to the distribution robots in the non-idle state in consideration of the time consumption and the overlap ratio.

Description

Task allocation method, device, equipment and medium of non-idle distribution robot

Technical Field

The disclosure relates to the technical field of robot delivery, and in particular relates to a task distribution method, device, equipment and medium of a non-idle delivery robot.

Background

With the development of robotics, the use of robots for distributing articles has been widely used in various industries. Due to cost limitation, when the number of the delivery tasks is large, the number of the idle robots cannot meet the distribution requirement of the delivery tasks, so that the problems of untimely delivery and the like can be caused. In summary, how to reasonably and optimally allocate tasks to non-idle delivery robots when there are no idle robots is a current urgent problem to be solved.

Disclosure of Invention

In view of this, the embodiments of the present disclosure provide a task allocation method, apparatus, device, and medium for a non-idle distribution robot, so as to solve the problem in the prior art of how to reasonably and optimally allocate tasks to the non-idle distribution robot when there is no idle robot.

In a first aspect of the embodiments of the present disclosure, a task allocation method for a non-idle distribution robot is provided, including: receiving a target delivery task; when the initial position of the delivery robot does not have an idle delivery robot, acquiring the state of each delivery robot; determining the time consumption of returning each dispensing robot to the initial position, and sorting each dispensing robot based on the time consumption to obtain a time consumption sequence; determining the coincidence degree of a target running route of the target delivery task and the current running route of each delivery robot, and sequencing each delivery robot based on the coincidence degree to obtain a coincidence degree sequence; and combining the time consuming sequence and the overlap ratio sequence to determine the target delivery robot.

In a second aspect of the embodiments of the present disclosure, there is provided a task allocation device of a non-idle distribution robot, including: a receiving unit configured to receive a target delivery task; an acquisition unit configured to acquire a state of each of the delivery robots when there is no free delivery robot at an initial position of the delivery robot; a first sorting unit configured to determine a time consumption for returning the respective dispensing robots to the initial position, and sort the respective dispensing robots based on the time consumption, to obtain a time consumption sequence; a second sorting unit configured to determine a degree of coincidence between a target travel route of the target delivery task and a current travel route of each delivery robot, and sort each delivery robot based on the degree of coincidence, to obtain a degree of coincidence sequence; and a determining unit configured to determine a target dispensing robot by integrating the elapsed time sequence and the overlap ratio sequence.

In a third aspect of the disclosed embodiments, an electronic device is provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.

In a fourth aspect of the disclosed embodiments, a computer-readable storage medium is provided, which stores a computer program which, when executed by a processor, implements the steps of the above-described method.

Compared with the prior art, the embodiment of the disclosure has the beneficial effects that: firstly, receiving a target delivery task; secondly, when the initial position of the delivery robot does not have an idle delivery robot, acquiring the state of each delivery robot; then, determining the consumed time for returning each dispensing robot to the initial position, and sorting each dispensing robot based on the consumed time to obtain a consumed time sequence; then, determining the coincidence ratio of the target running route of the target delivery task and the current running route of each delivery robot, and sequencing each delivery robot based on the coincidence ratio to obtain a coincidence ratio sequence; finally, the elapsed time sequence and the overlap ratio sequence are combined to determine a target delivery robot. According to the method, the consumed time and the overlap ratio of the distribution robots in the non-idle state are calculated, and the distribution tasks are reasonably and optimally distributed to the distribution robots in the non-idle state in time under the condition of comprehensively considering the consumed time and the overlap ratio, so that the distribution efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a schematic illustration of one application scenario of a task allocation method of a non-idle delivery robot according to some embodiments of the present disclosure;

FIG. 2 is a flow chart of some embodiments of a task allocation method of a non-idle dispensing robot according to the present disclosure;

FIG. 3 is a schematic structural view of some embodiments of a task allocation device of a non-idle dispensing robot according to the present disclosure;

fig. 4 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a schematic diagram of one application scenario of a task allocation method of a non-idle delivery robot according to some embodiments of the present disclosure.

In the application scenario of fig. 1, first, computing device 101 may receive target delivery task 102. Then, when there are no free dispensing robots in the initial positions of the dispensing robots, the computing device 101 may acquire the states 103 of the respective dispensing robots. Thereafter, the computing device 101 may determine the elapsed time 104 for each of the dispensing robots to return to the initial position and sort the dispensing robots based on the elapsed time to obtain a elapsed time sequence 105. Then, the computing device 101 may determine a degree of overlap 106 between the target travel route of the target delivery task and the current travel route of each delivery robot, and rank each delivery robot based on the degree of overlap, to obtain a degree of overlap sequence 107. Finally, the computing device 101 may combine the elapsed time sequence and the overlap ratio sequence to determine the target dispensing robot 108.

The computing device 101 may be hardware or software. When the computing device 101 is hardware, it may be implemented as a distributed cluster of multiple servers or terminal devices, or as a single server or single terminal device. When the computing device 101 is embodied as software, it may be installed in the hardware devices listed above. It may be implemented as a plurality of software or software modules, for example, for providing distributed services, or as a single software or software module. The present application is not particularly limited herein.

It should be understood that the number of computing devices in fig. 1 is merely illustrative. There may be any number of computing devices, as desired for an implementation.

Fig. 2 is a flow chart of some embodiments of a task allocation method for a non-idle dispensing robot according to the present disclosure. The task allocation method of the non-idle delivery robot of fig. 2 may be performed by the computing device 101 of fig. 1. As shown in fig. 2, the task allocation method of the non-idle distribution robot includes:

step 201, receiving a target delivery task.

In some embodiments, an execution subject of a task allocation method of a non-idle delivery robot (e.g., a computing device 101 shown in fig. 1) may receive a target delivery task, wherein the target delivery task includes a target task destination, recipient information, and the like.

Step 202, when no idle delivery robot exists in the initial position of the delivery robot, acquiring the state of each delivery robot.

In some embodiments, the above states include at least: on the way to executing the task and/or to returning to the initial position after completion of the task execution. Wherein the dispensing robot in the state of executing the task can be in the process of receiving the taker article from the initial position, driving to the article receiving point from the initial position or in the process of taking the article from the article receiving point. As another example, the initial position may be a preset location, and each time the robot performs a task, the robot returns to the initial position, and charges or waits for receiving the task at the initial position.

Step 203, determining the time spent for returning the respective dispensing robots to the initial position, and sorting the respective dispensing robots based on the time spent, thereby obtaining a time spent sequence.

In some embodiments, the executing body may determine the elapsed time for the respective dispensing robots to return to the initial position by:

in the first step, the execution body may set the delivery robot in the path of returning the execution completion of the task to the initial position as the first delivery robot.

And a second step in which the execution body calculates a first time period for the first dispensing robot to return to the initial position. In the process of calculating the first consumed time, the current position and the traveling speed of the first dispensing robot also need to be acquired. As an example, the current position of the first dispensing robot may be obtained based on a GPS sensor preset in each dispensing robot body, and the travel speed may be the same as the preset speed of each dispensing robot, or the current travel speed may be obtained based on a speed sensor preset in each dispensing robot body.

In the third step, the execution subject may use the delivery robot in the state of executing the task as the second delivery robot.

Fourth, the executing body may acquire the current position of the second dispensing robot.

And fifthly, the executing body may acquire, as a third distribution robot, a second distribution robot whose current position is at a distance smaller than a preset distance from the initial position, to form a third distribution robot set.

Sixth, the execution body may acquire a second consumed time for each third dispensing robot in the third robot set to travel to the initial position.

In a possible implementation manner of some embodiments, the sorting the dispensing robots based on the elapsed time may be performed by the executing entity to obtain the elapsed time sequence, including:

the first step, the execution body may acquire a remaining execution task time of each third dispensing robot in the third robot set. As an example, the method for determining the remaining execution task time includes: the execution main body can determine a current task residual running path according to the current task destination and the current position of the third robot, and the execution main body can obtain the running speed of the third robot and the distance of the current task residual running path and calculate the residual execution task time.

In the second step, the execution body may use a third dispensing robot whose execution time of the remaining task is shorter than the second time consumption as a fourth dispensing robot.

And thirdly, the execution body can acquire a fourth distribution robot of which the second consumed time is smaller than a preset time threshold.

Fourth, the execution body may acquire the first dispensing robot whose first consumed time is less than the preset time threshold.

In the fifth step, the execution body may use, as a fifth delivery robot, the first delivery robot whose first elapsed time is smaller than the preset time threshold and the fourth delivery robot whose second elapsed time is smaller than the preset time threshold.

Sixth, the execution body may sort the fifth dispensing robots by integrating the first time consumption and the second time consumption, thereby obtaining a time-consuming sequence.

And 204, determining the coincidence ratio of the target running route of the target delivery task and the current running route of each delivery robot, and sequencing each delivery robot based on the coincidence ratio to obtain a coincidence ratio sequence.

In some embodiments, the method for acquiring the target driving route includes the following steps:

in the first step, the execution body may determine the target task destination based on the target delivery task.

And secondly, the executing main body can acquire all floor plan diagrams of the building where the distribution robot is located.

And a third step in which the execution subject can determine a route from the initial position to a target task destination as the target travel route based on all floor plans.

In one possible implementation manner of some embodiments, the method for obtaining the current driving route includes the following steps:

in the first step, the executing body may acquire a current delivery task of each fifth delivery robot in the fifth delivery robot set.

In the second step, the executing body may acquire the current task destination based on the current delivery task.

And thirdly, the execution body can acquire a current travel route from the current position to the current task destination.

In one possible implementation of some embodiments, the above-mentioned contact ratio may be obtained through the following substeps: the first sub-step, the execution main body can perform road network fitting on the road network of the target driving route and the road network of the current driving route to obtain a fitting result; a second sub-step, based on the fitting result, the execution subject may acquire a coincident track of the target travel route and the current travel route; and a third sub-step in which the execution body may use a ratio of the length of the overlapping track to the length of the target travel route as an overlap ratio.

Step 205, integrating the time consuming sequence and the overlap ratio sequence to determine a target delivery robot.

In some embodiments, the executing body may determine the target dispensing robot by integrating the time consuming sequence and the overlap ratio sequence, including:

in the first step, the execution subject may preset the weight index of the elapsed time and the weight index of the overlap ratio.

In the second step, the execution subject may calculate a time-consuming weight value of each fifth dispensing robot in the time-consuming sequence based on the time-consuming weight index.

And a third step in which the execution subject calculates a weight value of the degree of overlap of each fifth dispensing robot in the degree of overlap sequence based on the weight index of the degree of overlap.

Fourth, the execution subject may determine the target delivery robot by integrating the elapsed time weight value and the overlap ratio weight value.

Compared with the prior art, the embodiment of the disclosure has the beneficial effects that: firstly, receiving a target delivery task; secondly, when the initial position of the delivery robot does not have an idle delivery robot, acquiring the state of each delivery robot; then, determining the consumed time for returning each dispensing robot to the initial position, and sorting each dispensing robot based on the consumed time to obtain a consumed time sequence; then, determining the coincidence ratio of the target running route of the target delivery task and the current running route of each delivery robot, and sequencing each delivery robot based on the coincidence ratio to obtain a coincidence ratio sequence; finally, the elapsed time sequence and the overlap ratio sequence are combined to determine a target delivery robot. According to the method, the consumed time and the overlap ratio of the distribution robots in the non-idle state are calculated, and the distribution tasks are reasonably and optimally distributed to the distribution robots in the non-idle state in time under the condition of comprehensively considering the consumed time and the overlap ratio, so that the distribution efficiency is improved. In addition, in the implementation process of the method provided by the embodiment of the disclosure, the consumed time can be accurately calculated, the driving route can be accurately determined, and the progress of the distribution task and the current state of the distribution robot can be known in real time to a certain extent.

Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.

The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the method of the present disclosure.

Fig. 3 is a schematic structural view of some embodiments of a task allocation device of a non-idle dispensing robot according to the present disclosure. As shown in fig. 3, the task allocation device of the non-idle distribution robot includes: a receiving unit 301, an acquiring unit 302, a first sorting unit 303, a second sorting unit 304, and a determining unit 305. A receiving unit 301 configured to receive a target delivery task; an acquiring unit 302 configured to acquire a state of each dispensing robot when there is no free dispensing robot in an initial position of the dispensing robot; a first sorting unit 303 configured to determine a time consumption for returning the respective dispensing robots to the initial position, and sort the respective dispensing robots based on the time consumption, to obtain a time consumption sequence; a second sorting unit 304 configured to determine a degree of coincidence between a target travel route of the target delivery task and a current travel route of each delivery robot, and sort each delivery robot based on the degree of coincidence, to obtain a degree of coincidence sequence; and a determining unit 305 configured to determine the target dispensing robot by integrating the elapsed time sequence and the overlap ratio sequence.

In some alternative implementations of some embodiments, the above states include at least: on the way to executing the task and/or to returning to the initial position after completion of the task execution.

In some optional implementations of some embodiments, the determining the elapsed time for each dispensing robot to return to the initial position includes: returning the delivery robot in the path of the initial position after the task execution is completed as a first delivery robot; calculating a first time consumption for the first dispensing robot to return to the initial position; taking the distribution robot in the state of executing the task as a second distribution robot; acquiring the current position of a second delivery robot; acquiring a second distribution robot with the current position at a distance smaller than a preset distance from the initial position as a third distribution robot to form a third distribution robot set; and acquiring a second consumed time for each third dispensing robot in the third robot set to travel to the initial position.

In some optional implementations of some embodiments, the sorting the dispensing robots based on the elapsed time to obtain a elapsed time sequence includes: acquiring the residual task execution time of each third distribution robot in the third robot set; taking a third distribution robot with the residual task execution time smaller than the second consumption time as a fourth distribution robot; acquiring a fourth distribution robot of which the second consumed time is smaller than a preset time threshold value; acquiring a first distribution robot of which the first consumed time is smaller than the preset time threshold; taking the first delivery robot with the first consumption time smaller than the preset time threshold value and the fourth delivery robot with the second consumption time smaller than the preset time threshold value as fifth delivery robots; and sequencing the fifth distribution robot by integrating the first consumed time and the second consumed time to obtain a consumed time sequence.

In some optional implementations of some embodiments, the method for obtaining the target driving route includes: determining the target task destination based on the target delivery task; acquiring all floor plan diagrams of a building where the distribution robot is located; and determining a route from the initial position to the target task destination as the target travel route based on the all floor plans.

In some optional implementations of some embodiments, the method for obtaining the current driving route includes: acquiring a current delivery task of each fifth delivery robot in the fifth delivery robot set; acquiring a current task destination based on the current distribution task; and acquiring a current travelling route from the current position to the current task destination.

In some optional implementations of some embodiments, the determining unit 305 of the task allocation device of the non-idle delivery robot is further configured to: presetting the weight index of the consumed time and the weight index of the coincidence degree; calculating a time-consuming weight value for each fifth dispensing robot in the time-consuming sequence based on the time-consuming weight index; calculating a weight value of the degree of coincidence of each fifth dispensing robot in the degree of coincidence sequence based on the weight index of the degree of coincidence; and combining the time-consuming weight value and the overlap ratio weight value to determine the target delivery robot.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not constitute any limitation on the implementation process of the embodiments of the disclosure.

Referring now to FIG. 4, a schematic diagram of an electronic device 400 (e.g., computing device 101 of FIG. 1) suitable for use in implementing some embodiments of the present disclosure is shown. The server illustrated in fig. 4 is merely an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present disclosure in any way.

As shown in fig. 4, the electronic device 400 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401, which may perform various suitable actions and processes according to a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

In general, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 shows an electronic device 400 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 4 may represent one device or a plurality of devices as needed.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 409, or from storage 408, or from ROM 402. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing device 401.

It should be noted that, in some embodiments of the present disclosure, the computer readable medium may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

The computer readable medium may be embodied in the apparatus; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a target delivery task; when the initial position of the delivery robot does not have an idle delivery robot, acquiring the state of each delivery robot; determining the time consumption of returning each dispensing robot to the initial position, and sorting each dispensing robot based on the time consumption to obtain a time consumption sequence; determining the coincidence degree of a target running route of the target delivery task and the current running route of each delivery robot, and sequencing each delivery robot based on the coincidence degree to obtain a coincidence degree sequence; and combining the time consuming sequence and the overlap ratio sequence to determine the target delivery robot.

Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a receiving unit, an acquiring unit, a first ordering unit, a second ordering unit, and a determining unit. The names of these units do not limit the unit itself in some cases, and the receiving unit may be described as a "unit that receives a target delivery task", for example.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the application in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the application. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.

Claims (10)

1. A task allocation method for a non-idle distribution robot, comprising:

receiving a target delivery task;

when the initial position of the delivery robot does not have an idle delivery robot, acquiring the state of each delivery robot;

determining the consumed time of returning the delivery robots to the initial position, and sequencing the delivery robots based on the consumed time to obtain a consumed time sequence;

determining the coincidence ratio of a target running route of the target delivery task and the current running route of each delivery robot, and sequencing each delivery robot based on the coincidence ratio to obtain a coincidence ratio sequence;

and integrating the time consumption sequence and the contact ratio sequence to determine the target delivery robot.

2. The task allocation method of a non-idle distribution robot according to claim 1, wherein the states include at least: on the way to executing the task and/or to returning to the initial position after completion of the task.

3. The task allocation method of a non-idle dispensing robot according to claim 2, wherein the determining a time consumed for the respective dispensing robots to return to the initial position includes:

returning the distribution robot in the path of the initial position after the task execution is completed as a first distribution robot;

calculating a first consumed time for the first dispensing robot to return to the initial position;

taking the distribution robot in the state of executing the task as a second distribution robot;

acquiring the current position of a second delivery robot;

acquiring a second distribution robot with the current position at a distance smaller than a preset distance from the initial position as a third distribution robot, and forming a third distribution robot set;

a second elapsed time is obtained for each third dispensing robot in the third set of robots to travel to the initial position.

4. The method of task allocation for non-idle delivery robots according to claim 3, wherein said sorting said respective delivery robots based on said elapsed time results in a elapsed time sequence comprising:

acquiring the residual task execution time of each third distribution robot in the third robot set;

taking the third delivery robot with the residual task execution time smaller than the second consumption time as a fourth delivery robot;

acquiring a fourth distribution robot of which the second consumed time is smaller than a preset time threshold;

acquiring a first distribution robot of which the first consumed time is smaller than the preset time threshold;

taking the first delivery robot with the first consumed time smaller than the preset time threshold value and the fourth delivery robot with the second consumed time smaller than the preset time threshold value as fifth delivery robots;

and sequencing the fifth delivery robot by integrating the first consumed time and the second consumed time to obtain a consumed time sequence.

5. The task allocation method of a non-idle delivery robot according to claim 1, wherein the target travel route acquisition method comprises:

determining the target task destination based on the target delivery task;

acquiring all floor plan diagrams of a building where the distribution robot is located;

and determining a route from the initial position to the target task destination as the target driving route based on all floor plans.

6. The task allocation method of a non-idle distribution robot according to claim 4, wherein the current travel route obtaining method includes:

acquiring a current delivery task of each fifth delivery robot in the fifth delivery robot set;

acquiring a current task destination based on the current distribution task;

a current travel route from the current location to the current task destination is obtained.

7. The method of assigning tasks to non-idle distribution robots according to claim 6, wherein said integrating said elapsed time sequence and said overlap ratio sequence to determine a target distribution robot comprises:

presetting a weight index of the consumed time and a weight index of the coincidence degree;

calculating a time-consuming weight value for each fifth dispensing robot in the time-consuming sequence based on the time-consuming weight index;

calculating a weight value of the degree of coincidence of each fifth dispensing robot in the degree of coincidence sequence based on the weight index of the degree of coincidence;

and integrating the consumed time weight value and the overlap ratio weight value to determine the target delivery robot.

8. A task allocation device for a non-idle distribution robot, comprising:

a receiving unit configured to receive a target delivery task;

an acquisition unit configured to acquire a state of each of the delivery robots when there is no free delivery robot at an initial position of the delivery robot;

a first sorting unit configured to determine a time consumption for returning the respective dispensing robots to the initial position, and sort the respective dispensing robots based on the time consumption, resulting in a time-consuming sequence;

the second sequencing unit is configured to determine the coincidence ratio of the target running route of the target delivery task and the current running route of each delivery robot, and sequence each delivery robot based on the coincidence ratio to obtain a coincidence ratio sequence;

and a determining unit configured to integrate the elapsed time sequence and the overlap ratio sequence to determine a target delivery robot.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.