CN115421452A - Method, device and equipment for adjusting number of robots and storage medium - Google Patents

Abstract

The application discloses a method, device, equipment and storage medium for adjusting the number of robots, belonging to the field of robots. The method includes: first determining the first waiting time and the first on-duty time of each of the M robots in the target area within the first preset time, and then according to the first waiting time and the first on-duty time of the M robots , to adjust the number of robots in the target area. Wherein, M is a positive integer, the first waiting time is the total time that the corresponding robot waits to perform the delivery task within the first preset time length, and the first attendance time is the total time that the corresponding robot performs the delivery task within the first preset time length. In this way, the number of robots in the target area can be automatically and reasonably adjusted according to the first waiting time and first attendance time of the M robots, so that the resource utilization rate of the robots and the task completion efficiency in the target area can be better balanced.

Description

Robot quantity adjustment method, device, equipment and storage medium

technical field

The present application relates to the field of robots, and in particular to a method, device, equipment and storage medium for adjusting the number of robots.

Background technique

As the complexity of tasks performed by robots continues to increase, it has become difficult for a single robot to complete complex and tedious tasks by itself. Based on this, it has gradually become one of the trends in robot development that multiple robots cooperate to complete tasks. For example, deploy a certain number of robots in a specific area, and use these robots to complete the task of delivering goods, so as to make full use of robot resources and improve the efficiency of task completion in a specific area.

In the prior art, for a target area where items need to be delivered, designers usually manually set the number of robots delivering items in the target area based on experience. For example, artificially set the number of robots required in the target area according to the size of the target area, the number of delivery orders, etc., and then configure multiple robots in the target area according to the set number of robots, so that these multiple robots can jointly perform delivery. Task.

However, the number of robots artificially set based on experience may have too many or too few robots, resulting in low resource utilization of the robots or low task completion efficiency in the target area. For example, the large number of robots causes some robots to be idle, resulting in a waste of robot resources, and the resource utilization rate of the robots is low, or the small number of robots causes multiple robots to fail to complete tasks in time, resulting in low task completion efficiency in the target area. Low.

Contents of the invention

This application provides a method, device, equipment and storage medium for adjusting the number of robots, which can be automatically and rationally adjusted according to the total time each robot in the target area waits for and executes the delivery task within the preset time period. The number of robots in the target area makes the robot's resource utilization and task completion efficiency better balanced and higher. Described technical scheme is as follows:

In a first aspect, a method for adjusting the number of robots is provided, the method comprising:

For the M robots in the target area, determine the first waiting time and the first attendance time of each robot in the first preset time in the M robots, M is a positive integer, and the first waiting time is the corresponding The robot waits for the total duration of the delivery task within the first preset duration, and the first attendance duration is the total duration of the corresponding robot performing the delivery task within the first preset duration;

The number of robots in the target area is adjusted according to the first waiting duration and the first attendance duration of the M robots.

As an example, the adjusting the number of robots in the target area according to the first waiting time and first attendance time of the M robots includes:

If the number of robots whose first waiting time is longer than the first time threshold among the M robots is less than or equal to the number threshold, a first instruction is triggered, and the first instruction is used to instruct to increase the number of robots in the target area;

If the number of robots whose first waiting duration is greater than the first duration threshold among the M robots is greater than the number threshold, a second instruction is triggered according to the first attendance duration of the M robots, and the second instruction Indicates to reduce the number of robots in the target area.

As an example, the triggering of the second instruction according to the first duty hours of the M robots includes:

Determining a first number, the first number being the number of robots whose first attendance duration is greater than a second duration threshold among the M robots;

The second instruction is triggered according to the first number, and the second instruction is used for instructing to reduce the number of robots in the target area to the first number.

As an example, after the triggering of the first instruction, the method further includes:

If the robots in the target area increase from the M robots to N robots, then determine the second waiting period of each robot in the N robots within the second preset duration, N is a positive integer and N greater than M, the second preset duration is after the first preset duration;

If the number of robots whose second waiting time is longer than the first time threshold among the N robots is less than or equal to the number threshold, trigger the first instruction;

If the number of robots whose second waiting time length is greater than the first time length threshold among the N robots is greater than the number threshold, determine the first time of each robot within the second preset time length among the N robots. Two on-duty durations, the second instruction is triggered according to the second on-duty durations of the N robots.

As an example, the method also includes:

For the target item to be distributed, determine the target receiving location, target receiving location and target delivery warehouse quantity of the target item;

According to the number of target distribution warehouses, and the working status of each robot in the target area and the number of free warehouses, determine the target robot for delivering the target item from the robots in the target area, and from the Determine a target warehouse for storing the target item in the free warehouse of the target robot, and each robot in the target area includes at least one warehouse for storing the item;

controlling the target robot to go to the target pick-up position to search for the target item;

When the target warehouse stores the target item, the target robot is controlled to deliver the target item from the target receiving position to the target receiving position.

As an example, the warehouse state of each warehouse in the at least one warehouse includes an idle state, a locked state and an occupied state, and the idle warehouse is a warehouse in the idle state in the corresponding robot;

After the target warehouse for storing the target item is determined from the free warehouse of the target robot, the method further includes:

switching the warehouse state of the target warehouse from the idle state to the locked state;

Before controlling the target robot to deliver the target item from the target receiving position to the target receiving position, the method further includes:

switching the warehouse state of the target warehouse from the locked state to the occupied state.

As an example, the working state of each robot includes at least a waiting state, a searching state, and a delivery state. The receiving location is looking for the item to be delivered or receiving the item to be delivered at the receiving location, and the delivery status indicates that the corresponding robot is going from the receiving location to the receiving location to deliver the item to be delivered or releasing it at the receiving location the status of the item to be dispatched;

determining the target robot for delivering the target item from the robots in the target area according to the number of target distribution warehouses, the working status of each robot in the target area, and the number of free warehouses, include:

If there is at least one first robot in the searching state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area, then determine the the target robot;

If there is no at least one first robot that is in the searching state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area, then from the robots in the target area Determine at least one second robot that is in the waiting state and whose number of free warehouses is greater than or equal to the number of target delivery warehouses, and determine the target robot from the at least one second robot.

As an example, the determining the target robot from the at least one second robot includes:

The second robot with the shortest target state duration among the at least one second robot is determined as the target robot, and the target state duration is the duration after the working state of the corresponding robot is switched from the delivery state to the waiting state.

In a second aspect, a device for adjusting the number of robots is provided, the device comprising:

The first determination module is used to determine the first waiting time and the first attendance time of each robot in the M robots within the first preset time length for the M robots in the target area, M is a positive integer, so The first waiting time is the total time that the corresponding robot waits to perform the delivery task within the first preset time, and the first attendance time is the total time that the corresponding robot performs the delivery task within the first preset time;

An adjustment module, configured to adjust the number of robots in the target area according to the first waiting time and first attendance time of the M robots.

As an example, the adjustment module is further configured to trigger a first instruction if the number of robots whose first waiting time is longer than the first time threshold among the M robots is less than or equal to the number threshold, and the first instruction uses increasing the number of robots within said target area upon instruction;

If the number of robots whose first waiting duration is greater than the first duration threshold among the M robots is greater than the number threshold, a second instruction is triggered according to the first attendance duration of the M robots, and the second instruction Indicates to reduce the number of robots in the target area.

As an example, the adjustment module is further configured to determine a first number, where the first number is the number of robots whose first attendance duration is greater than a second duration threshold among the M robots;

The second instruction is triggered according to the first number, and the second instruction is used for instructing to reduce the number of robots in the target area to the first number.

As an example, the device for adjusting the number of robots further includes a second determination module, a first trigger module, and a second trigger module,

The second determination module is configured to determine the second position of each of the N robots within a second preset time period if the number of robots in the target area increases from the M robots to N robots. Waiting time, N is a positive integer and N is greater than M, and the second preset time is located after the first preset time;

The first trigger module is configured to trigger the first instruction if the number of robots whose second waiting time is longer than the first time threshold among the N robots is less than or equal to the number threshold;

The second triggering module is configured to determine that each robot among the N robots has a second waiting time longer than the first duration threshold and the number of the robots is greater than the number threshold. The second on-duty duration within the second preset duration is used to trigger the second instruction according to the second on-duty duration of the N robots.

As an example, the device for adjusting the number of robots further includes a third determination module, a fourth determination module, a first control module and a second control module:

The third determining module is configured to, for the target item to be distributed, determine the target receiving location, target receiving location and target delivery warehouse quantity of the target item;

The fourth determination module is configured to determine the number of distribution warehouses from the robots in the target area according to the number of target distribution warehouses, the working status of each robot in the target area, and the number of free warehouses. A target robot for the target item, determining a target warehouse for storing the target item from free warehouses of the target robot, and each robot in the target area includes at least one warehouse for storing items;

The first control module is configured to control the target robot to go to the target pick-up position to search for the target item;

The second control module is configured to control the target robot to deliver the target item from the target receiving position to the target receiving position when the target warehouse stores the target item.

As an example, the warehouse state of each warehouse in at least one warehouse includes an idle state, a locked state and an occupied state, and an idle warehouse is a warehouse in an idle state in a corresponding robot; the robot quantity adjustment device also includes a first switch module and second switching module:

The first switching module is configured to switch the warehouse state of the target warehouse from the idle state to the locked state;

The second switching module is configured to switch the warehouse state of the target warehouse from the locked state to the occupied state.

As an example, the working state of each robot includes at least a waiting state, a searching state, and a delivery state. The waiting state indicates that the corresponding robot is waiting to go to the pick-up location to find the items to be delivered, and the search state indicates that the corresponding robot is going to the pick-up location to find the items to be delivered. The status of the item or receiving the item to be delivered at the receiving location. The delivery status indicates the status of the corresponding robot delivering the item to be delivered from the receiving location to the receiving location or releasing the item to be delivered at the receiving location;

The fourth determination module is further configured to: if there is at least one first robot in the searching state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area, then from determining the target robot among the at least one first robot;

If there is no at least one first robot that is in the searching state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area, then from the robots in the target area Determine at least one second robot that is in the waiting state and whose number of free warehouses is greater than or equal to the number of target delivery warehouses, and determine the target robot from the at least one second robot.

As an example, the fourth determining module is further configured to determine the second robot with the shortest target state duration among the at least one second robot as the target robot, and the target state duration is the working state of the corresponding robot from The duration after the delivery state is switched to the waiting state.

In a third aspect, a computer device is provided, the computer device includes a memory, a processor, and a computer program stored in the memory and operable on the processor, the computer program being executed by the processor Realize the above-mentioned method for adjusting the number of robots at the same time.

In a fourth aspect, a computer-readable storage medium is provided, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above method for adjusting the number of robots is implemented.

The beneficial effects brought by the technical solutions provided by the embodiments of the present application are:

In the embodiment of the present application, the first waiting time and the first attendance time of each of the M robots in the target area within the first preset time can be determined first, and then according to the first waiting time and the first Attendance time, adjust the number of robots in the target area. Wherein, M is a positive integer, the first waiting time is the total time that the corresponding robot waits to perform the delivery task within the first preset time length, and the first attendance time is the total time that the corresponding robot performs the delivery task within the first preset time length. In this way, the number of robots in the target area can be automatically adjusted according to the total time each robot in the target area waits for and executes the delivery task within the preset time period. Since the first waiting time and the first on-duty time can reflect the task completion efficiency and the resource utilization rate of the robot in the target area, according to the first waiting time and first on-duty time of each robot, the robot in the target area after automatic adjustment The quantity is relatively reasonable, so that the resource utilization rate of the robot and the task completion efficiency in the target area can be well balanced and both are high.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

FIG. 1 is a flow chart of a method for adjusting the number of robots provided by an embodiment of the present application;

Fig. 2 is a flow chart of an item distribution method provided by an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a device for adjusting the number of robots provided by an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a computer device provided by an embodiment of the present application.

detailed description

In order to make the purpose, technical solution and advantages of the present application clearer, the implementation manners of the present application will be further described in detail below in conjunction with the accompanying drawings.

It should be understood that the "plurality" mentioned in this application means two or more. In the description of this application, unless otherwise specified, "/" means or means, for example, A/B can mean A or B; "and/or" in this article is just a description of the relationship between associated objects, It means that there can be three kinds of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to clearly describe the technical solution of the present application, words such as "first" and "second" are used to distinguish the same or similar items with basically the same function and effect. Those skilled in the art can understand that words such as "first" and "second" do not limit the number and execution order, and words such as "first" and "second" do not necessarily limit the difference.

Before explaining the embodiment of the present application in detail, the application scenario of the embodiment of the present application will be described first.

The method for adjusting the number of robots provided by the embodiment of the present application can be applied to fields such as warehousing and logistics, and can replace manual tasks by setting a certain number of robots in a specific area to complete complex and tedious tasks.

For example, in specific communities, campuses, office buildings and other scenes with a certain area, logistics and distribution personnel are not allowed to enter, so that logistics and distribution personnel cannot enter these specific places to complete the delivery task. In this case, multiple robots can be used to achieve Delivery of items.

As an example, in the scene of a specific area, a certain number of multiple robots are preset, each of the multiple robots includes at least one warehouse for storing items, and any robot in the multiple robots is receiving After receiving the receiving instruction, drive to the designated receiving location to obtain the items to be delivered, and then transport the items to be delivered to the receiving location corresponding to the items to be delivered. Or, in the scene of a specific area, at least one container is also preset, and at least one container stores items of different types and/or different quantities, and each container in the at least one container is correspondingly provided with a designated receiving position, After receiving the receiving instruction, any robot among the plurality of robots drives to the receiving position of the container storing the items to be delivered to obtain the items to be delivered, and then transports the items to be delivered to the receiving position corresponding to the items to be delivered.

The embodiment of this application proposes a method for adjusting the number of robots, which can automatically and reasonably adjust the number of robots in the target area according to the total time each robot in the target area waits for and executes the delivery task within the preset time period. Therefore, when the robot distributes items according to a reasonable number of robots, the resource utilization rate and task completion efficiency of the robot can be well balanced and both are high.

Please refer to FIG. 1 , which is a flow chart of a method for adjusting the number of robots provided by an embodiment of the present application. This method can be applied to the master robot in the target area, and the master robot is connected to other robots in the target area respectively, or it can be applied to a computer device, and the computer device is connected to each robot in the target area, and the computer device can be Terminals, servers, or embedded devices, etc., the terminals can be desktops or tablet computers, etc. Next, the method for adjusting the number of robots performed by a computer device will be described as an example. The method comprises the steps of:

Step 101 , for the M robots in the target area, the computer device determines the first waiting duration and the first attendance duration of each of the M robots within the first preset duration.

It should be noted that before the computer device determines the first waiting time and the first attendance time of each of the M robots within the first preset time, there are M robots in the target area, and these M robots can be man-made. The robots set in the target area according to experience may also be the robots after adjusting the number of robots in the target area.

Among them, M is a positive integer, and the target area is the delivery area of the item. For example, the target area is a specific area in a scene such as a community, a campus, or an office building.

As an example, M is artificially set the number of robots in the target area within a specific time period based on experience, and the time period can be hours, days, months, etc. For example, the number M of robots in the target area is artificially set according to the importance of the time point and the number of transaction delivery orders at the time point. For example, the number of trading orders is relatively large during the time period of 11:00-15:00 every day, and the number of trading orders is relatively small during the time period of 20:00-24:00 every day. Set up more robots in order to ease the delivery pressure, and set up fewer robots in the time period of 20:00-24:00 every day to avoid waste of robot resources.

Wherein, the first waiting time is the total time that the corresponding robot waits to perform the delivery task within the first preset time, and the first on-duty time is the total time that the corresponding robot performs the delivery task within the first preset time.

As an example, waiting to perform a delivery task may mean that the corresponding robot is in a waiting state, and executing a delivery task may mean that the corresponding robot is in a search state or a delivery state, so the first waiting period is that the corresponding robot is in a waiting state within the first preset time period The first attendance time is the sum of the total time that the corresponding robot is in the search state and the total time in the delivery state within the first preset time period. Among them, the waiting state indicates that the corresponding robot is waiting to go to the pick-up location to find the state of the item to be delivered; Receiving location The state of going to the receiving location to deliver the item to be delivered or releasing the item to be delivered at the receiving location.

As an example, a wait state, a search state, or a delivery state may be one of the work states of each robot. For example, the working state of each robot includes at least a waiting state, a searching state and a delivery state. In addition, the working state of each robot can also include the charging state. The charging state indicates that the corresponding robot is going to the designated charging position or is charging at the designated charging position. The waiting state can also indicate that the corresponding robot’s power is greater than the power threshold and is waiting to pick up the goods. Location to find the status of the item to be shipped.

Among the M robots, the total time for each robot to wait for delivery tasks (first waiting time) and the total time for delivery tasks (first attendance time) within the first preset time period can reflect the completion of tasks in the target area. Efficiency and resource utilization of the robot.

For example, if the total time for each of the M robots to wait for delivery tasks is relatively short, it is determined that each robot within the first preset time period can be determined as a robot for delivering items within a short period of time, the first The number of robots waiting to perform delivery tasks among the M robots within the preset time period may be small, the number of robots in the waiting state among the M robots may be small, and the number of M robots in the target area may be too small, resulting in M robots The delivery task cannot be completed in time, resulting in low efficiency of task completion in the target area.

For another example, if the total time for each of the M robots to perform the delivery task is relatively short, then it is determined that each robot only performs the delivery task within a shorter period of time in the first preset time length, and the M robots perform the delivery task. The number of robots for the task may be small, the number of robots in the search state or delivery state among the M robots may be small, and the number of M robots in the target area may be too large, resulting in some of the M robots being in the first preset time period. The time in the waiting state is longer, resulting in a waste of robot resources, and the resource utilization rate of the robot is low.

Wherein, the first preset duration includes one or more preset time periods, and the time periods may be hours, days, months and so on. For example, the first preset duration includes a preset time period, and the time period may be 10 days, 20 days, or 30 days. Alternatively, the first preset duration includes multiple preset time periods, and the multiple time periods are time periods from 11:00 to 15:00 every day for 20 days.

As an example, before the computer device determines the first waiting time and the first on-duty time of each of the M robots within the first preset time, it first needs to control the M robots to complete the delivery task in the target area. Among them, each robot in the M robots completes the delivery task in the target area, and has a waiting time for performing the delivery task and a time for performing the delivery task, so that the computer device can control the M robots to complete the target within the first preset time period After the delivery task in the area, determine the first waiting duration and the first attendance duration of each of the M robots within the first preset duration. Of course, the computer device can also control the M robots to complete the delivery task in the target area during or after determining the first waiting time and the first on-duty time of each of the M robots within the first preset time.

For example, waiting to execute a delivery task means that the corresponding robot is in a waiting state, executing a delivery task means that the corresponding robot is in a search state or a delivery state, and each of the M robots completes the delivery task in the target area within the first preset time period. There are different working states in the process, and the computer device can determine the first waiting time and the first attendance time of each robot in the first preset time according to the working state of each robot in the first preset time. . For example, the computer device first determines the total duration of each robot in the waiting state, the total duration of the search state, and the The total time in the delivery state, then the total time that each robot is in the waiting state within the first preset time length is determined as the first waiting time, and the total time that each robot is in the search state in the first preset time length and The sum of the total time in the delivery state is determined as the first attendance time.

It should be noted that the specific realization process of the computer equipment controlling the robot in the target area to complete the delivery task in the target area will be described in detail in the embodiment of FIG. 2 below, and the embodiment of the present application will not go into details here.

Step 102, the computer device adjusts the number of robots in the target area according to the first waiting time and the first on-duty time of the M robots.

Since the number M of robots in the target area may be too small or too large, the number of robots in the target area can be adjusted to be less than M or greater than M according to the first waiting time and first attendance time of M robots.

For example, if the number of robots whose first waiting time is greater than the first duration threshold among M robots is less than or equal to the number threshold, the first instruction is triggered, and the first instruction is used to instruct to increase the number of robots in the target area; if M robots If the number of robots whose first waiting time is longer than the first time threshold is greater than the number threshold, the second instruction is triggered according to the first attendance time of the M robots, and the second instruction is used to instruct to reduce the number of robots in the target area.

Wherein, the first duration threshold is a preset duration, and the quantity threshold is a preset value. For example, the first duration threshold may be 0 minutes, 60 minutes, or 120 minutes, etc., and the quantity threshold may be 1, 3, or 5, etc., which is not limited in this embodiment of the present application.

Wherein, the first waiting duration of each robot is greater than the first duration threshold, indicating that the corresponding robot waits for a longer total time to perform the delivery task, and the corresponding robot is in a waiting state for a longer time.

For ease of description, in the embodiment of the present application, the number of robots whose first waiting time length is greater than the first time length threshold among the M robots is referred to as the second number. The second number is less than or equal to the number threshold, indicating that only a few robots among the M robots are in the waiting state for a long time during the first preset time period. In this case, the number of M robots in the target area may be too small. In this way, if the number of robots whose first waiting time is longer than the first time threshold among the M robots is less than or equal to the number threshold, the computer device determines that the number M of robots may be too small, and triggers the first instruction to increase the number of robots in the target area.

For example, M is 10, the first preset duration is 20 days, the first duration threshold is 60 minutes, the quantity threshold is 3, and the first waiting durations of 10 robots are 3 minutes, 10 minutes, 20 minutes, 15 minutes, 42 minutes, 30 minutes, 50 minutes, 20 minutes, 70 minutes, 15 minutes, the computer equipment determines that the number of robots whose first waiting time is longer than the first duration threshold (60 minutes) among the M robots is 1, and 1 is less than the number threshold ( 3), it shows that among the 10 robots, only a few robots have a total waiting time longer than the first duration threshold, and among the 10 robots, only a few robots have been in the waiting state for a longer period of time, and among the 10 robots More robots can be determined as delivery robots within a short period of time, and the number of robots waiting to perform delivery tasks may be less among the 10 robots within the first preset time period (20 days). The number of bots in the waiting state may be low, and the number of 10 bots may be low.

As an example, the first instruction may be a control instruction for controlling the number of robots to be increased in the target area. For example, after the computer device triggers the first instruction, the number of robots in the target area is increased through the warehouse, wherein the warehouse is respectively connected to at least one fourth robot. For example, after the computer device triggers the first instruction, it determines some of the at least one fourth robot respectively connected to the warehouse as the robots performing delivery tasks in the target area, so that the computer device can increase the number of robots in the target area.

As another example, the first instruction may also be a prompt instruction for sending out prompt information, or the first instruction may also be an information sending instruction for instructing to issue instructions to the terminals of relevant personnel, so that relevant personnel may send instructions according to the prompt information or terminal The received command increases the number of robots in the target area within the target area. For example, the first instruction is a prompt instruction, and the computer device triggers the first instruction to issue prompt information, so that relevant personnel can increase the number of robots in the target area according to the prompt information. Wherein, the manner of sending out the prompt information may include displaying the prompt information or making a prompt sound, and the like.

As an example, the first instruction can also be used to indicate to increase the number of robots in the target area with a first preset value, the first preset value can be 5 or 10, etc., so that the computer equipment or related personnel can use the first preset value The value increases the number of robots in the target area.

Wherein, the second number is greater than the number threshold, which indicates that more robots among the M robots are in the waiting state for a longer period of time in the first preset time period. In this case, the number of M robots in the target area may be too large. In this way, if the number of robots whose first waiting time is longer than the first time threshold among the M robots is greater than the number threshold, the second instruction is triggered according to the first attendance time of the M robots, so as to reduce the number of robots in the target area.

For example, M is 10, the first preset duration is 20 days, the first duration threshold is 60 minutes, and the quantity threshold is 3. The first waiting durations of 10 robots are 70 minutes, 43 minutes, 152 minutes, 134 minutes, 74 minutes, 110 minutes, 80 minutes, 92 minutes, 70 minutes, 30 minutes, the computer equipment determines that the number of robots whose first waiting time is longer than the first time threshold (60 minutes) among the M robots is 8, and 8 is greater than the number threshold (3), it shows that among the 10 robots, the total time of waiting for more robots to execute delivery tasks is greater than the duration threshold, and among the 10 robots, more robots are in the waiting state for a longer period of time, and the first preset time length (20 There may be more robots waiting to perform delivery tasks among the 10 robots within 10 days, and 10 robots can complete the delivery tasks in the target area. However, since more robots among the 10 robots are in the waiting state for a longer period of time, the number of 10 robots may be too large.

For example, the computer device may first determine the first number, the first number is the number of robots whose first attendance time is greater than the second time threshold among the M robots, and then trigger the second instruction according to the first number, the second instruction is used to instruct the The number of robots in the target area is reduced to the first number, so that the computer equipment or related personnel can reduce the number of robots in the target area to the first number. Wherein, the second duration threshold is a preset duration, for example, the second duration threshold may be 60 minutes or 120 minutes, etc., which is not limited in this embodiment of the present application.

As an example, if the first attendance time of each robot in the M robots is greater than the second duration threshold, that is, the first number is M, in this case, there may be a problem that the number of M robots in the target area is too small Condition. In this way, if the number of robots whose first waiting time is greater than the first time threshold among the M robots is greater than the quantity threshold, and the first attendance time of each robot among the M robots is greater than the second time threshold, the computer device can trigger the first an instruction.

As an example, if the first attendance time of each of the M robots is less than or equal to the second time threshold, that is, the first number is 0, in this case, there may be a deviation in the number of M robots in the target area. many cases. In this way, if the number of robots whose first waiting time is greater than the first duration threshold among the M robots is greater than the quantity threshold, and the first attendance duration of each robot among the M robots is less than or equal to the second duration threshold, the computer device can The third instruction is triggered, and the third instruction is used to instruct to reduce the number of robots in the target area by a second preset value. The second preset value may be 5 or 10, etc., which is not limited in this embodiment of the present application.

As an example, the second instruction may be a control instruction for controlling the reduction of the number of robots in the target area. For example, after the first instruction is triggered, the computer device can control the robots whose first attendance time is less than or equal to the second duration threshold among the M robots to stop working, that is, to eliminate the first attendance time of the M robots is less than or equal to the second duration threshold The warehouses are connected to the eliminated robots respectively, so that among the M robots, the robots with the first attendance time longer than the second time threshold continue to complete the delivery tasks in the target area, so that the number of robots in the target area decreases from M is reduced to the first quantity.

As another example, the second instruction can also be a reminder instruction or an information sending instruction. The reminder instruction is used to send reminder information, and the information sending instruction is used to indicate to send instructions to the terminals of relevant personnel, so that relevant personnel can receive information according to the reminder information or terminals. The incoming command reduces the number of robots in the target area.

For ease of description, in the embodiment of the present application, the number of robots after increasing the number of robots in the target area is called N, that is, after increasing the number of robots in the target area, the number of robots in the target area increases from M robots to N robots, N is a positive integer and N is greater than M.

After increasing the number of robots in the target area, the number of N robots in the target area may still be too large or too small, so the computer device can also determine the number of N robots in the target area after triggering the first instruction Whether it is too many or too few to adjust the number of robots in the target area according to the situation that n robots in the target area are too many or too few. Among them, the specific implementation process of determining whether there are too many or too few N robots in the target area to adjust the number of robots in the target area can be: after the computer device triggers the first instruction, if the number of robots in the target area increases from M robots If there are N robots, then determine the second waiting period of each robot in the second preset period of time in the N robots; if the number of robots whose second waiting period is greater than the first duration threshold among the N robots is less than or equal to the quantity threshold , then trigger the first instruction; if the number of robots whose second waiting time is greater than the first duration threshold among the N robots is greater than the quantity threshold, then determine the second attendance duration of each robot in the second preset duration of the N robots , trigger the second command according to the second attendance time of the N robots. Wherein, the second preset duration is after the first preset duration.

As an example, the second preset duration includes one or more preset time periods, and the length of the first preset duration and the second preset duration can be the same or different. The preset duration is after the first preset duration means that the time point in the second preset duration is after the time point in the first preset duration.

For example, the computer device controls M robots in the target area to complete delivery tasks in the target area within the first preset time length, and then determines the first waiting time and the second waiting time of each robot in the first preset time length for each of the M robots. A length of attendance. Then, if the number of robots whose first waiting time is longer than the first time threshold among the M robots is less than or equal to the number threshold, the first instruction is triggered. After the first instruction is triggered, if the number of robots in the target area increases from M robots to N robots, control the N robots in the target area to complete the delivery tasks in the target area within the second preset time period, and determine the number of N robots in the target area. The second waiting period of each robot in the second preset period of time.

As an example, the number of robots whose second waiting duration is greater than the first duration threshold among the N robots is less than or equal to the number threshold indicates that only a few robots among the N robots are in the waiting state for a longer duration within the second preset duration , in this case, after increasing the number of robots in the target area, the number of N robots in the target area may be too small. In this way, if the number of robots whose second waiting time is longer than the first time threshold among the N robots is less than or equal to the number threshold, the first instruction is triggered to increase the number of robots in the target area again.

It should be noted that after the computer device triggers the first command, if the number of robots in the target area increases from N robots again, the number of robots in the target area after the increase may still be too large or too small. In this case, after the number of robots in the target area increases from N robots again, the computer device can determine whether the number of robots in the target area is more or less after the increase from N robots again, so as to adjust the number of robots in the target area. Among them, determining whether the number of robots in the target area is too many or too few to adjust the number of robots in the target area after increasing from N robots again, and determining whether the number of N robots in the target area is too many or too few The implementation process of adjusting the number of robots in the target area is similar and will not be repeated here.

As an example, the number of robots whose second waiting duration is greater than the first duration threshold among the N robots is greater than the quantity threshold indicates that more robots among the N robots are in the waiting state for a longer duration within the second preset duration, that is, in After increasing the number of robots in the target area, the number of robots waiting to perform delivery tasks among the N robots in the target area may be more, and the number of N robots may be too large. In this way, if the number of robots whose second waiting duration is greater than the first duration threshold among the N robots is greater than the quantity threshold, then determine the second attendance duration of each of the N robots within the second preset duration, according to the number of N robots The second duty duration triggers a fourth instruction, and the fourth instruction is used to instruct to reduce the number of robots in the target area.

For example, the computer device first determines the third number, the third number is the number of robots whose second attendance duration is greater than the second duration threshold among the N robots, and then triggers the fourth instruction according to the third number, and the fourth instruction is used to instruct the target The number of robots in the area is reduced to a third number.

In the embodiment of the present application, the first waiting time and the first attendance time of each of the M robots in the target area within the first preset time can be determined first, and then according to the first waiting time and the first Attendance time, adjust the number of robots in the target area. Wherein, M is a positive integer, the first waiting time is the total time that the corresponding robot waits to perform the delivery task within the first preset time length, and the first attendance time is the total time that the corresponding robot performs the delivery task within the first preset time length. In this way, the number of robots in the target area can be automatically adjusted according to the total time each robot in the target area waits for and executes the delivery task within the preset time period. Since the first waiting time and the first on-duty time can reflect the task completion efficiency and the resource utilization rate of the robot in the target area, according to the first waiting time and first on-duty time of each robot, the robot in the target area after automatic adjustment The quantity is relatively reasonable, so that the resource utilization rate of the robot and the task completion efficiency in the target area can be well balanced and both are high.

It should be noted that, before or after step 101, before or after step 102, or during the execution of step 101 or step 102 in the embodiment of FIG. delivery tasks within. Wherein, the robots in the target area can be the robots before the number of robots is adjusted through the above-mentioned embodiment of FIG. The latter N robots are not limited in this embodiment of the present application.

For example, the computer device can control the robot in the target area to complete the delivery task in the target area by executing the following item delivery method.

Please refer to FIG. 2 . FIG. 2 is a flow chart of an item delivery method provided in an embodiment of the present application. This method can be applied to the master robot in the target area, and the master robot is connected to other robots in the target area respectively, or it can be applied to a computer device, and the computer device is connected to each robot in the target area, and the computer device can be Terminals, servers, or embedded devices, etc., the terminals can be desktops or tablet computers, etc. Next, it will be described by taking a computer device executing the method for delivering items as an example. The method comprises the steps of:

Step 201, for the target item to be delivered, the computer device determines the target receiving location, the target receiving location and the target delivery warehouse quantity of the target item.

Wherein, each robot in the target area includes at least one warehouse for storing items, the types of items stored in at least one warehouse can be the same or different, and the storage capacity of at least one warehouse can be the same or different. There is no limit to the warehouse.

Among them, the target item may include one or more items, the target receiving location is the location where the robot obtains the target item, the target receiving location is the delivery location (address) corresponding to the target item, and the target delivery warehouse quantity is the location where the robot stores the target item The number of warehouses required.

For example, the computer device can generate a transaction delivery order, and determine a target receiving location, a target receiving location, and a target delivery warehouse quantity according to the content of the transaction delivery order and the items stored in at least one container. Wherein, the computer equipment and the robot in the target area are respectively connected with at least one container, at least one container is used to store items, at least one container stores items of different types and/or different quantities, and each container in at least one container is correspondingly set There is a designated receiving location, and the content of the transaction delivery order includes the order ID, the target receiving location, and the item ID and item quantity of the target item. Wherein, the order identifier is used to uniquely identify the transaction delivery order, which may be an order number, etc., and the item identifier is used to uniquely identify an item, which may be an item name or an item number, etc., which is not limited in this embodiment of the application.

As an example, the computer device may determine the target container from at least one container according to the item identification, the quantity of the item, and the items stored in at least one container in the transaction delivery order, and determine the receiving location corresponding to the target container as the target receiving location , the target container stores the target item, and the target container can include one or more containers.

For example, the computer device determines whether there is a container storing the target item of the number of items in at least one container, if it exists, the container of the target item storing the number of items is determined as the target container, and if it does not exist, the storage item is first stored in at least one container The container with the largest quantity is determined as the first target container, and then the difference between the quantity of items and the quantity of the target item in the first target container is determined as the fourth quantity, and the first target container is removed from at least one container according to the fourth quantity The second target container is determined among the other containers, the second target container is a container that stores the target item and the quantity of the stored target item is greater than or equal to the fourth quantity.

As an example, the computer device may determine the target delivery warehouse quantity according to the item identifier and item quantity in the transaction delivery order, or may determine the target delivery warehouse according to the item identifier, item quantity, type of the target item, and the relationship between types quantity. For example, if the target item is a dozen eggs and three bottles of Coke, since the target item includes different types of commodities, Coke may cause the egg to break, that is, there is a mutually exclusive relationship between coke and eggs, and the number of target items is large, so the computer The device can determine that the number of target distribution warehouses is 2, that is, the two warehouses of the robot are required to store coke and eggs respectively.

For example, the user can select the target item and the quantity of the target item through the item ordering interface displayed on the terminal, and trigger a payment request, and the payment request carries the item identifier and item quantity of the selected target item. The computer device receives the payment request, generates a payment order according to the item identification and item quantity, and sends the payment order to the terminal. The terminal receives the payment order, displays the payment interface, the user pays the transaction amount through the payment interface, triggers the payment completion instruction, and the terminal detects the payment completion instruction, and sends the payment completion instruction to the computer device. The computer device receives the payment completion instruction, generates a transaction delivery order, and sends the transaction delivery order to the terminal.

As an example, the transaction delivery order also includes the contact information of the picker and/or the first self-collection code, etc. The first self-pickup code is used for verification between the robot, the container, and the pick-up person. Associated with the order ID. After the computer device determines the target container from at least one container, it can also send the first self-collection code and order identification to the target container, and/or send the first self-collection code and order to the pick-up person according to the contact information of the pick-up person logo.

For example, the computer device can also receive the delivery request sent by the terminal, and generate a transaction delivery order according to the delivery request, and the delivery request includes the target receiving location, the target receiving location and the number of target delivery warehouses. For example, if the user is a logistics personnel, the terminal can detect the delivery operation performed by the logistics personnel and trigger a delivery request. The operation type of the delivery operation can be click operation, press operation, language operation or gesture operation, etc.

As an example, the delivery request also carries a first inventory code, the first inventory code is used for verification between the robot and the terminal, and the first inventory code is associated with the order identifier of the transaction delivery order.

Step 202, the computer device determines the target robot for delivering the target item from the robots in the target area according to the number of target delivery warehouses, the working status of each robot in the target area, and the number of free warehouses, and from the idle positions of the target robot. A target warehouse for storing the target item is determined in the warehouse.

Wherein, the working state of each robot includes at least a waiting state, a searching state and a delivery state, and each robot in the target area includes at least one warehouse for storing items.

As an example, the warehouse state of each warehouse includes an idle state, a locked state, and an occupied state. The idle state indicates a state in which no items are stored in the corresponding warehouse and is not locked to store items to be delivered, and the locked state indicates that the corresponding warehouse Locked as the state of storing items to be delivered, the occupied state indicates the stored items in the corresponding warehouse, and the free warehouse refers to the warehouse in the idle state of the corresponding robot.

For example, the computer equipment can preferentially determine the target robot from the robots in the search state in the target area, so that the robot resources can be rationally used and the distribution efficiency can be improved. For example, the computer device determines whether there is at least one first robot in the searching state and the number of free warehouses greater than or equal to the number of target distribution warehouses among the robots in the target area; The number of warehouses is greater than or equal to at least one first robot with the number of target distribution warehouses, then determine the target robot from at least one first robot; if there is no robot in the target area that is in the search state and the number of free warehouses is greater than or at least one first robot equal to the target number of distribution warehouses, then determine at least one second robot that is in a waiting state and whose number of free warehouses is greater than or equal to the target number of distribution warehouses from the robots in the target area, from at least one The target robot is determined in the second robot.

As an example, the computer device may determine the target robot from the at least one first robot according to the target pick-up position, the position of each first robot in the at least one first robot, the position to go to the pick-up position, and the number of free warehouses . Wherein, each first robot in the at least one first robot is heading to other to-go pick-up positions to search for other items to be delivered, and the to-be-to-go pick-up positions correspond to other items to be delivered when each first robot is in a search state delivery location.

For example, the computer device first determines at least one third robot whose target pick-up position is located between the first robot position and the pick-up position from at least one first robot, and selects the at least one third robot with the least number of empty warehouses. The third robot is determined as the target robot. In this way, the first robot that is in the search state and whose target pick-up position is located between the first robot position and the pick-up position is determined as the target robot firstly, can make the target robot find or acquire multiple items to be delivered during one trip. Items, so as to make rational use of robot resources and improve delivery efficiency. In addition, prioritizing the first robot with the fewest number of free warehouses as the target robot can make all the warehouses of the first robot with the fewest number of free warehouses preferentially store all items, thereby controlling the first robot with the fewest number of free warehouses as early as possible. Robots deliver items to further improve delivery efficiency.

As an example, if there is no at least one first robot that is in the search state and the number of free warehouses is greater than or equal to the number of target delivery warehouses among the robots in the target area, the computer device can first determine whether the robots in the target area are There are robots that are in a waiting state and the number of free warehouses is greater than or equal to the number of target delivery warehouses; if there are robots in the waiting state and the number of free warehouses is greater than or equal to the number of target delivery warehouses, it is determined from the robots in the target area at least one second robot, and determine the target robot from the at least one second robot; if it does not exist, perform the determination again after the third preset period of time to determine whether there is a number of vacant warehouses in the search state among the robots in the target area At least one step of the first robot greater than or equal to the target number of distribution bins. Wherein, the third preset duration is a preset time period, for example, the third preset duration is 5 minutes or 10 minutes, etc. The embodiment of the present application does not limit the third preset duration.

For example, the computer device determines the second robot with the shortest target state duration among the at least one second robot as the target robot, and the target state duration is the duration after the working state of the corresponding robot is switched from the delivery state to the waiting state. Wherein, after the computer device determines that the robot in the delivery state releases the items to be distributed at the receiving location, or after releasing the items to be distributed at the receiving location and the remaining power is greater than the power threshold, the working state of the robot is switched from the delivery state to the waiting state. In this way, the computer equipment gives priority to the robot that has completed the delivery task, or the robot that has completed the delivery task and the battery power is greater than the power threshold, is determined to be the robot that performs the delivery task again, so that the robot resources can be reasonably used to increase the time for the robot to perform the delivery task , to improve the delivery efficiency of the robot within the preset time period. Wherein, the power threshold is a preset percentage threshold of the remaining power of the robot, for example, the power threshold may be 30% or 20%, and the embodiment of the present application does not limit the power threshold.

For example, if the computer device determines that there are no robots in the waiting state and the number of free warehouses is greater than or equal to the number of target delivery warehouses among the robots in the target area, it is determined that there is no target that can deliver the target item among the robots in the target area. robot, the computer device is in the state of waiting for the third preset time length, and the computer device waits for the third preset time length to continue to determine whether there is a robot in the target area that is in the search state and the number of free warehouses is greater than or equal to the target distribution warehouse number of at least one first robot.

As an example, after the computer device determines the target warehouse for storing the target item from the idle warehouse of the target robot, it also switches the warehouse state of the target warehouse from the idle state to the locked state, so as to avoid the target warehouse from being blocked by the computer. The equipment is determined as a warehouse for storing other items to be delivered. Wherein, the warehouse ID of the target warehouse is associated with the order ID, or the warehouse ID of the target warehouse is also associated with the item ID or the quantity of the item, so that the target item corresponding to the order ID is stored in the target warehouse of the target robot, and the warehouse The identifier is used to uniquely identify the warehouse of the robot.

Step 203, the computer equipment controls the target robot to go to the target pick-up location to search for the target item.

For example, the computer device can send a receiving instruction to the target robot to switch the working state of the target robot from the waiting state to the searching state. The receiving instruction carries the target receiving location, item identification and item quantity. Then the target robot receives the receiving instruction, and goes to the target receiving location to obtain the target item according to the item identification and item quantity.

For example, each robot in the target area includes an intelligent manipulator, and the target robot can obtain target items from the target container corresponding to the target receiving position through the intelligent manipulator at the target receiving position, and store the target items in the target warehouse.

As an example, the pick-up instruction also carries the first self-pickup code and the order identifier. After receiving the pick-up instruction, the target robot goes to the target pick-up location according to the item identifier and item quantity, and then returns to the target pick-up location according to the first self-pickup code. and the order ID to send a pick-up request to the target container, and the pick-up request carries the second self-collection code and the order ID. The target container receives the pickup request, and if the second self-pickup code in the pickup request matches the first self-pickup code corresponding to the order ID sent by the computer equipment received in advance by the target container, it will be discharged from the delivery port of the target container target item. After that, the target robot obtains the target items from the delivery port through the intelligent manipulator, and stores the target items in the target warehouse.

As an example, the receiving instruction also carries the warehouse identification of the target warehouse, and the target robot uses the intelligent manipulator to store the target items obtained from the delivery port into the target warehouse corresponding to the warehouse identification.

As an example, the receiving instruction can also carry the order identifier and the first inventory code in the delivery request sent by the receiving terminal of the computer device, and the target robot also receives the inventory instruction at the target receiving location, and the inventory instruction carries the second inventory code and the order identifier , if the second inventory code matches the first inventory code, the target warehouse corresponding to the order identifier is opened, so that the user can directly deposit the target item into the target warehouse. Wherein, the inventory instruction may be sent by a computer device or a terminal, or may be triggered by a user, which is not limited in this embodiment of the present application. For example, the terminal detects the inventory operation triggered by the user, and sends an inventory request to the computer device. The inventory request carries the second inventory code and the order ID. The computer device receives the inventory request, determines the corresponding target robot according to the order ID, and sends the inventory command to the target robot. .

As an example, after the computer device determines the target warehouse for storing the target item from the free warehouse of the target robot, it also determines whether the pick-up location that the target robot goes to includes only the target pick-up location; if the pick-up location that the target robot goes to The location only includes the target pick-up position, and the computer device can also perform path planning according to the position of the target robot and the target pick-up position to obtain the first target path, and then send a pick-up command to the target robot, and the pick-up command also carries the first The target path, so that the target robot will go to the target pick-up location according to the first target path after receiving the pick-up instruction sent by the computer equipment; position, the computer equipment can perform path planning according to the position of the target robot, the target pick-up position, and the pick-up position to obtain the second target path, and then send a pick-up instruction to the target robot, and the pick-up command also carries the second target path , so that after the target robot receives the receiving instruction sent by the computer equipment, it will go to the target receiving location and the waiting location according to the second target path, and realize one path to obtain all items, so that the robot resources can be rationally used to improve delivery efficiency .

For example, if the target robot is a robot determined from at least one first robot, the pick-up position that the target robot goes to includes not only the target pick-up position, but also the pick-up position to be headed to, if the target robot is a pick-up position from at least one second robot The robot determined in , then the pick-up location that the target robot goes to only includes the target pick-up location.

As an example, if the computer device determines that the target warehouse stores the target item, then the warehouse state of the target warehouse is switched from the locked state to the occupied state. For example, the target robot stores the target items in the target warehouse through the intelligent manipulator, and after closing the target warehouse through the intelligent manipulator, or the user stores the target items in the target warehouse and manually closes the target warehouse, the target robot detects the target warehouse Close, send a receiving completion response to the computer device, the receiving completion response is used to instruct the target warehouse to store the target item, and then the computer device receives the receiving completion response to determine the target warehouse to store the target item.

As an example, if the computer device determines that the target warehouse stores the target item, it also determines whether all the warehouses of the target robot store the item; Switch to the delivery state, and control the target robot to deliver the target item, or deliver the target item and other items to be delivered; Go to the pick-up location, then control the target robot to go to the pick-up location to find other items to be delivered, and the working status of the target robot is still in the search state; if all the warehouses of the target robot do not store all the items, the pick-up location to go to does not include Waiting to go to the pick-up position, that is, there is no pick-up position to go to, and the target robot is determined to be a robot that delivers other items to be delivered within the fourth preset time period, then control the target robot to go to the pick-up position corresponding to other items to be delivered When looking for items to be delivered, the working status of the target robot is still in the searching state; if all the warehouses of the target robot do not store all the items, there is no waiting to go to the pick-up location, and the target robot has not been determined to deliver other items within the fourth preset time period. The robot of the item to be delivered switches the working state of the target robot from the searching state to the delivery state, and controls the target robot to deliver the target item, or deliver the target item and other items to be delivered. Wherein, the fourth preset duration is a preset time period, for example, the fourth preset duration is 5 minutes or 10 minutes, and the embodiment of the present application does not limit the fourth preset duration.

For example, the computer device can determine whether all the warehouses of the target robot store items according to the warehouse status of at least one warehouse of the target robot, and determine whether the target robot has a location to pick up goods. If the warehouse status of at least one warehouse of the target robot is occupied, it is determined that all warehouses of the target robot store items, and there is no (none) waiting to go to the receiving position; if at least one warehouse of the target robot is in If there is a warehouse whose warehouse status is locked, it is determined that all the warehouses of the target robot do not store all the items, and there is a location to be picked up; if at least one warehouse of the target robot has a warehouse status that is occupied or In the idle state, it is determined that all the warehouses of the target robot do not store all the items, and there is no waiting position to pick up the goods.

Step 204, when the target warehouse stores the target item, the computer equipment controls the target robot to deliver the target item from the target receiving position to the target receiving position.

Wherein, the situation that the target warehouse stores the target item means that the computer equipment determines that the target warehouse stores the target item.

For example, in the case of storing target items in the target warehouse, the computer device can send a delivery instruction to the target robot, switching the working state of the target robot from the searching state to the delivery state, and the delivery instruction carries the target receiving location. Then the target robot receives the delivery instruction, and delivers the target items from the target receiving location to the target receiving location.

As an example, if the computer device determines that all warehouses of the target robot store items, it sends a delivery instruction to the target robot, and switches the working state of the target robot from the searching state to the delivery state. Or, if the computer device determines that all the warehouses of the target robot do not store all the items, there is no place to go to pick up the goods, and the target robot is not determined to be a robot that delivers other items to be delivered within the fourth preset time period, then the target robot Send a delivery command to switch the working state of the target robot from the search state to the delivery state.

As an example, the delivery instruction also carries the location to be delivered. After receiving the delivery instruction, the target robot can also deliver the target item from the target delivery location to the target delivery location, and deliver other items to be delivered to the delivery location. Wherein, the location to be received is the delivery location corresponding to other items to be delivered when the target robot is in the delivery state.

As an example, the delivery instruction also carries the first self-pickup code and the order identifier. The target robot receives the delivery instruction, and after going from the target receiving location to the target receiving location, it also receives the first delivery request at the target receiving location. Request to carry the third self-collection code and the order ID. If the third self-collection code matches the first self-collection code, open the target warehouse corresponding to the order ID so that the user can obtain the target item from the target warehouse. The first delivery request may be sent by a computer device or a terminal, or may be triggered by a user, which is not limited in this embodiment of the present application. For example, the terminal detects the first pick-up operation triggered by the user, and sends the first pick-up request to the computer device. The first pick-up request carries the third self-pickup code and the order ID. The computer device receives the first pick-up request, and determines the corresponding order ID according to the order ID. The target robot sends the first delivery request to the target robot.

As an example, the delivery instruction can also carry the order identifier and the first inventory code in the delivery request sent by the receiving terminal of the computer device. The location receives the second pick-up request, and the second pick-up request carries the third inventory code and the order identifier. If the third inventory code matches the first inventory code, the target warehouse corresponding to the order identifier is opened, so that the user can pick up the goods from the target warehouse. Get the target item. The second delivery request may be sent by a computer device or a terminal, or may be triggered by a user, which is not limited in this embodiment of the present application.

For example, after the target robot opens the target warehouse corresponding to the order ID, it can also store the target items in the preset locker through the intelligent manipulator, so that the user can obtain the target items through the locker.

As an example, after the target robot opens the target warehouse corresponding to the order identifier, if it detects that the target warehouse is closed, it sends a delivery completion response to the computer device, and the delivery completion response instructs the target robot to complete the task of delivering the target item, and then the computer device Receive the delivery completion response sent by the target robot, and determine whether there are other items to be delivered by the target robot, that is, whether there are other receiving locations to be sent to; Waiting to go to the receiving location to deliver other items to be delivered, the state of the target robot is still in the delivery state; if the target robot does not exist at the receiving location, the working state of the target robot is switched from the delivery state to the waiting state, and the waiting state indicates the corresponding robot Waiting to go to the pickup location to find out the status of the item to be delivered.

Or, if the target robot does not exist to go to the receiving position, the computer device can also first determine the remaining power of the target robot; if the remaining power of the target robot is greater than the power threshold, the working state of the target robot is switched from the delivery state to the waiting state ; If the remaining power of the target robot is less than or equal to the power threshold, control the target robot to charge at the designated charging location, and switch the working state of the target robot from the delivery state to the charging state, so that the target robot can charge at the designated charging location. In this case, the waiting state indicates that the power of the corresponding robot is greater than the power threshold and is waiting to go to the pick-up location to find the items to be delivered.

As an example, if the computer device determines that the battery of the target robot is fully charged, or the remaining power of the target robot after charging is greater than the power threshold, there is no robot in the waiting state or the search state in the target area, and the computer device is in the state of waiting for the third preset duration, Then switch the working state of the target robot from the charging state to the waiting state, avoiding that there is no robot capable of delivering items in the target area for a long time, and improving user experience.

It should be noted that through the above steps 201 to 204, the computer equipment can control the robots in the target area to complete the delivery tasks in the target area. Since each robot has different working states in the process of completing the delivery tasks, it has waiting for execution. The duration of the delivery task and the duration of the execution of the delivery task, so the computer device can determine the first waiting period of each robot within the first preset duration according to the working status of each robot in the first preset duration of the M robots and the first attendance time.

In the embodiment of the present application, for the target item to be delivered, the computer device first determines the target receiving location, target receiving location and target delivery warehouse quantity of the target item, and then according to the target delivery warehouse quantity and each delivery location in the target area According to the working status of each robot and the number of free warehouses, the target robot for delivering the target items is determined from the robots in the target area, and the target warehouse for storing the target items is determined from the free warehouses of the target robot, and then the target robot is controlled. Go to the target receiving position to find the target item, and then control the target robot to deliver the target item from the target receiving position to the target receiving position when the target item is stored in the target warehouse. In this way, the computer equipment can control the robot to complete the delivery task in the target area.

Please refer to FIG. 3 . FIG. 3 is a schematic structural diagram of a device for adjusting the number of robots provided by an embodiment of the present application. The apparatus for adjusting the number of robots can be implemented by software, hardware or a combination of the two to become part or all of computer equipment, and the computer equipment can be the computer equipment shown in FIG. 4 below. Referring to FIG. 3 , the device for adjusting the number of robots includes: a first determination module 301 and an adjustment module 302 .

Wherein, the first determining module 301 is used to determine the first waiting time and the first attendance time of each robot in the first preset time for the M robots in the target area, M is a positive integer, The first waiting time is the total time that the corresponding robot waits to perform the delivery task within the first preset time, and the first attendance time is the total time that the corresponding robot performs the delivery task within the first preset time;

The adjustment module 302 is configured to adjust the number of robots in the target area according to the first waiting time and the first on-duty time of the M robots.

As an example, the adjustment module 302 is further configured to trigger a first instruction if the number of robots whose first waiting time is greater than the first time threshold among the M robots is less than or equal to the number threshold, and the first instruction is used to indicate an increase target the number of robots in the area;

If the number of robots whose first waiting time is greater than the first time threshold among the M robots is greater than the quantity threshold, the second instruction is triggered according to the first attendance time of the M robots, and the second instruction is used to instruct to reduce the number of robots in the target area .

As an example, the adjustment module 302 is further configured to determine a first number, where the first number is the number of robots whose first attendance duration is greater than the second duration threshold among the M robots;

The second instruction is triggered according to the first quantity, and the second instruction is used for instructing to reduce the number of robots in the target area to the first quantity.

As an example, the device for adjusting the number of robots further includes a second determination module, a first trigger module, and a second trigger module,

The second determination module is used to determine the second waiting period of each robot in the second preset period of time if the number of robots in the target area increases from M robots to N robots, where N is positive Integer and N is greater than M, and the second preset duration is after the first preset duration;

The first trigger module is configured to trigger the first instruction if the number of robots whose second waiting time is longer than the first time threshold among the N robots is less than or equal to the number threshold;

The second trigger module is used to determine the second waiting period of each robot in the N robots within the second preset period if the number of robots whose second waiting period is greater than the first period threshold among the N robots is greater than the quantity threshold. Attendance time, the second instruction is triggered according to the second attendance time of N robots.

As an example, the device for adjusting the number of robots further includes a third determination module, a fourth determination module, a first control module and a second control module:

The third determining module is used to determine the target receiving location, target receiving location and target distribution warehouse quantity of the target item for the target item to be distributed;

The fourth determination module is used to determine the target robot for delivering the target item from the robots in the target area according to the number of target distribution warehouses, the working status of each robot in the target area, and the number of free warehouses. The target warehouse for storing the target item is determined in the free warehouse of the target robot, and each robot in the target area includes at least one warehouse for storing the item;

The first control module is used to control the target robot to go to the target pick-up position to search for the target item;

The second control module is used to control the target robot to deliver the target item from the target receiving position to the target receiving position when the target item is stored in the target warehouse.

As an example, the warehouse state of each warehouse in at least one warehouse includes an idle state, a locked state and an occupied state, and an idle warehouse is a warehouse in an idle state in a corresponding robot; the robot quantity adjustment device also includes a first switch module and second switching module:

The first switching module is used to switch the warehouse state of the target warehouse from an idle state to a locked state;

The second switching module is configured to switch the warehouse state of the target warehouse from a locked state to an occupied state.

As an example, the working state of each robot includes at least a waiting state, a searching state, and a delivery state. The waiting state indicates that the corresponding robot is waiting to go to the pick-up location to find the items to be delivered, and the search state indicates that the corresponding robot is going to the pick-up location to find the items to be delivered. The status of the item or receiving the item to be delivered at the receiving location. The delivery status indicates the status of the corresponding robot delivering the item to be delivered from the receiving location to the receiving location or releasing the item to be delivered at the receiving location;

The fourth determining module is further configured to select from at least one first robot if there is at least one first robot in the search state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area. Identify the target robot;

If there is no at least one first robot that is in the searching state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area, then determine the robot that is in the waiting state and has free warehouses from the robots in the target area. At least one second robot whose quantity is greater than or equal to the target distribution warehouse quantity determines the target robot from the at least one second robot.

As an example, the fourth determining module is further configured to determine the second robot with the shortest target state duration among at least one second robot as the target robot, and the target state duration is the working state of the corresponding robot switching from the delivery state to the waiting state after the length of time.

It should be noted that: the robot quantity adjustment device provided by the above embodiment is only illustrated by the division of the above functional modules. The structure is divided into different functional modules to complete all or part of the functions described above.

The functional units and modules in the above-mentioned embodiments can be integrated into one processing unit, or each unit can exist separately physically, or two or more units can be integrated into one unit, and the above-mentioned integrated units can use hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present application.

The device for adjusting the number of robots provided in the above-mentioned embodiments and the embodiment of the method for adjusting the number of robots belong to the same concept. The specific working process and technical effects of the units and modules in the above-mentioned embodiments can be found in the method embodiments, and will not be repeated here. .

Please refer to FIG. 4 , which is a schematic structural diagram of a computer device provided by an embodiment of the present application. As shown in Figure 4, the computer device includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and operable on the processor 401. When the processor 401 executes the computer program 403, the robot in the above-mentioned embodiment is realized The steps in the quantity adjustment method.

The computer device may be the computer device in Embodiment 1 or Embodiment 2 above. The computer device may be a near-eye display device, or a desktop computer, a portable computer, a network server, a palmtop computer, a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device, and the embodiment of the present application does not limit the type of the computer device. Those skilled in the art can understand that FIG. 4 is only an example of computer equipment, and does not constitute a limitation to computer equipment. It may include more or less components than shown in the figure, or combine certain components, or different components, such as It may also include input and output devices, network access devices, etc.

The processor 401 can be a central processing unit (Central Processing Unit, CPU), and the processor 401 can also be other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) , off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or any conventional processor.

The memory 402 may be an on-chip memory or an off-chip memory of a computer device in some embodiments, such as a cache memory of a computer device, an SRAM (Static Random-Access Memory, a static random-access memory), a DRAM (Dynamic Static Random-Access Memory) Memory, dynamic random access memory) or floppy disk, etc. In other embodiments, the memory 402 may also be a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card (Flash Card), etc. equipped on the computer equipment. Further, the memory 402 may also include not only an on-chip memory of a computer device, an internal storage unit of an off-chip memory, but also an external storage device. The memory 402 is used to store operating systems, application programs, boot loaders, data, and other programs. The memory 402 can also be used to temporarily store data that has been output or will be output.

The embodiment of the present application also provides a computer device, the computer device includes: at least one processor, a memory, and a computer program stored in the memory and operable on the at least one processor, and the processor executes the computer program implement the steps in any of the above method embodiments.

The embodiment of the present application also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiments of the present application provide a computer program product, which, when running on a computer, causes the computer to execute the steps in the above method embodiments.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application realizes all or part of the processes in the above method embodiments, which can be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When executed by a processor, the steps in the foregoing method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program codes to the photographing device/terminal device, recording medium, computer memory, ROM (Read-Only Memory, read-only memory), RAM (Random Access Memory , random access memory), CD-ROM (Compact Disc Read-Only Memory, CD-ROM), magnetic tape, floppy disk and optical data storage devices, etc. The computer-readable storage medium mentioned in this application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims (11)

1. A method for adjusting the number of robots, characterized in that the method comprises: For the M robots in the target area, determine the first waiting time and the first attendance time of each robot in the first preset time in the M robots, M is a positive integer, and the first waiting time is the corresponding The robot waits for the total duration of the delivery task within the first preset duration, and the first attendance duration is the total duration of the corresponding robot performing the delivery task within the first preset duration; The number of robots in the target area is adjusted according to the first waiting duration and the first attendance duration of the M robots. 2. The method according to claim 1, wherein, adjusting the number of robots in the target area according to the first waiting time and the first attendance time of the M robots includes: If the number of robots whose first waiting time is longer than the first time threshold among the M robots is less than or equal to the number threshold, a first instruction is triggered, and the first instruction is used to instruct to increase the number of robots in the target area; If the number of robots whose first waiting duration is greater than the first duration threshold among the M robots is greater than the number threshold, a second instruction is triggered according to the first attendance duration of the M robots, and the second instruction Indicates to reduce the number of robots in the target area. 3. The method according to claim 2, wherein the triggering of the second instruction according to the first attendance duration of the M robots comprises: Determining a first number, the first number being the number of robots whose first attendance duration is greater than a second duration threshold among the M robots; The second instruction is triggered according to the first number, and the second instruction is used for instructing to reduce the number of robots in the target area to the first number. 4. The method according to claim 2, characterized in that, after the triggering of the first instruction, the method further comprises: If the robots in the target area increase from the M robots to N robots, then determine the second waiting period of each robot in the N robots within the second preset duration, N is a positive integer and N greater than M, the second preset duration is after the first preset duration; If the number of robots whose second waiting time is longer than the first time threshold among the N robots is less than or equal to the number threshold, trigger the first instruction; If the number of robots whose second waiting time length is greater than the first time length threshold among the N robots is greater than the number threshold, determine the first time of each robot within the second preset time length among the N robots. Two on-duty durations, the second instruction is triggered according to the second on-duty durations of the N robots. 5. The method according to any one of claims 1-4, further comprising: For the target item to be distributed, determine the target receiving location, target receiving location and target delivery warehouse quantity of the target item; According to the number of target distribution warehouses, and the working status of each robot in the target area and the number of free warehouses, determine the target robot for delivering the target item from the robots in the target area, and from the Determine a target warehouse for storing the target item in the free warehouse of the target robot, and each robot in the target area includes at least one warehouse for storing the item; controlling the target robot to go to the target pick-up position to search for the target item; When the target warehouse stores the target item, the target robot is controlled to deliver the target item from the target receiving position to the target receiving position. 6. The method according to claim 5, wherein the warehouse state of each warehouse in the at least one warehouse includes an idle state, a locked state and an occupied state, and the idle warehouse is in the corresponding robot. The warehouse in the idle state; After the target warehouse for storing the target item is determined from the free warehouse of the target robot, the method further includes: switching the warehouse state of the target warehouse from the idle state to the locked state; Before controlling the target robot to deliver the target item from the target receiving position to the target receiving position, the method further includes: switching the warehouse state of the target warehouse from the locked state to the occupied state. 7. The method according to claim 5, wherein the working state of each robot includes at least a waiting state, a searching state and a delivery state, and the waiting state indicates that the corresponding robot is waiting to go to the pick-up location to find the state of the item to be delivered , the searching state indicates that the corresponding robot goes to the receiving location to search for the item to be delivered or receives the item to be delivered at the receiving location, and the delivery status indicates that the corresponding robot goes from the receiving location to the receiving location for delivery The status of the item to be shipped or issued at said receiving location; determining the target robot for delivering the target item from the robots in the target area according to the number of target distribution warehouses, the working status of each robot in the target area, and the number of free warehouses, include: If there is at least one first robot in the searching state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area, then determine the the target robot; If there is no at least one first robot that is in the searching state and the number of free warehouses is greater than or equal to the number of target distribution warehouses among the robots in the target area, then from the robots in the target area Determine at least one second robot that is in the waiting state and whose number of free warehouses is greater than or equal to the number of target delivery warehouses, and determine the target robot from the at least one second robot. 8. The method according to claim 7, wherein said determining said target robot from said at least one second robot comprises: The second robot with the shortest target state duration among the at least one second robot is determined as the target robot, and the target state duration is the duration after the working state of the corresponding robot is switched from the delivery state to the waiting state. 9. A device for adjusting the number of robots, characterized in that the device comprises: The first determination module is used to determine the first waiting time and the first attendance time of each robot in the M robots within the first preset time length for the M robots in the target area, M is a positive integer, so The first waiting time is the total time that the corresponding robot waits to perform the delivery task within the first preset time, and the first attendance time is the total time that the corresponding robot performs the delivery task within the first preset time; An adjustment module, configured to adjust the number of robots in the target area according to the first waiting time and first attendance time of the M robots. 10. A computer device, characterized in that the computer device comprises a memory, a processor, and a computer program stored in the memory and operable on the processor, the computer program being executed by the processor When realizing the method as described in any one of claims 1 to 8. 11. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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