A platform for scheduling and planning mobile robots and an intelligent scheduling and planning method

Abstract

This invention discloses a robot scheduling and planning platform and intelligent scheduling and planning method, relating to the fields of robot map calculation and intelligent scheduling technology. The key technical points are: it includes an operation module, an order module, a pickup module, a receiving module, and a return module; the operation module is used to interface with hardware devices requiring operation and control; the order module is used to filter executable orders and robots capable of performing tasks, and assign orders to robots capable of performing tasks; the pickup module is used to invoke the robot's voice broadcast function to send material information to a remote terminal, allowing business personnel to view the material's location through the remote terminal. This platform and planning method can divide multiple floors into zones, calculate elevator scheduling in real time based on elevator operating status, and obtain the robot's real-time location to achieve robot avoidance scheduling, enabling a large number of robots to transport orders efficiently within a limited space through reasonable intelligent route planning.

Description

Technical Field

[0001] This invention relates to the field of robot map calculation and intelligent scheduling technology, and more specifically, to a vehicle robot scheduling and planning platform and an intelligent scheduling and planning method. Background Technology

[0002] Robotic logistics refers to the automated execution of operations such as cargo transfer and handling in the warehousing process, based on pre-programmed procedures or instructions from the system. It belongs to the category of industrial robots.

[0003] Robotic logistics has entered a period of rapid development in recent years and is gradually gaining an advantage over human labor. This is mainly due to the following reasons: First, the number of highly skilled workers is constantly increasing, while the number of manual laborers is decreasing. Problems such as structural shortages of human resources and rising labor costs are becoming increasingly prominent, making the use of robots more cost-effective than human labor. Second, as people continuously pursue a better life, their requirements for working environments are also gradually increasing. Many dangerous, heavy, tedious, and repetitive tasks exist in the logistics process, providing an opportunity for "machine replacement of human labor." Third, with the continuous penetration and development of the internet economy, especially the booming development of e-commerce logistics, the requirements for the efficiency and accuracy of logistics warehousing are constantly increasing. Traditional logistics companies still rely mainly on human labor in packaging, sorting, handling, and shipping, which greatly reduces logistics management efficiency and restricts the level of automation and intelligence in logistics distribution. Robots, on the other hand, can complete tasks completely after receiving correct instructions, eliminating errors caused by human fatigue, mistakes, or other accidental factors. Fourth, the cost of core components for logistics and warehousing robots is decreasing, and the economic benefits of automated and unmanned warehousing and logistics are becoming increasingly apparent, giving them a greater advantage over traditional, manpower-based logistics and warehousing.

[0004] Fifth, with the continuous penetration and development of new information environments and new materials technologies such as 5G, the Internet of Things, and artificial intelligence, logistics and warehousing robots have made leapfrog development in terms of situational awareness, autonomous decision-making, and precision movements, thus forming an internal driving force for technological development.

[0005] Traditional path planning for transport robots primarily relies on ant colony optimization (ACO) algorithms. These algorithms are time-consuming and inefficient. While a single robot can achieve the shortest path when transporting goods, in practice, a large number of robots are often needed simultaneously. Due to limited space, it's difficult to ensure all robots achieve the shortest path. Furthermore, in actual operation, it has been observed that transport robots sometimes deviate from their preset routes, and they lack emergency response capabilities, failing to handle unexpected situations such as rear-end collisions effectively.

[0006] In addition, traditional transport robots can only move within a relatively small area along a predetermined trajectory, making it difficult to move across areas or floors in complex scenarios. When multiple robots are transporting goods, it can cause congestion in certain areas, or result in a situation where many robots are idle in some areas while goods cannot reach their destinations on time in other areas due to a lack of robots. Summary of the Invention

[0007] The purpose of this invention is to provide a robot scheduling and planning platform and an intelligent scheduling and planning method. This platform and planning method can divide multiple floors into areas, calculate elevator scheduling in real time based on elevator operating status, and obtain the real-time position of the robot to achieve robot avoidance scheduling. This allows a large number of robots to improve the efficiency of robot transportation orders in a limited space through reasonable intelligent route planning.

[0008] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a transportation robot scheduling and planning platform, including an operation module, an order module, a pickup module, a receiving module, and a return module;

[0009] The operation module is used to interface with hardware devices that require operation and control;

[0010] The order module is used to filter executable orders and robots with executable tasks, and to assign orders to robots with executable tasks.

[0011] The package pickup module is used to call the robot's voice broadcast function to send the material information to the remote terminal, and the business personnel can control the opening and closing of the robot cabinet door through the remote terminal;

[0012] The receiving module is used to monitor whether the robot has arrived at the receiving location and to call the robot's voice broadcast function to transmit information to a remote terminal, through which business personnel can retrieve the materials.

[0013] The homing module controls idle robots with sufficient power and not waiting at the docking station to perform homing scheduling based on the robot's status information and location information. The homing module obtains the number of stations where robots can dock based on the remaining number of dockable robots at the docking station, and controls the corresponding robots to initiate homing tasks, scheduling the robots to reach the nearest available docking point. While the robot is performing a homing task, the homing module can cancel the current robot's homing task at any time according to the order situation and assign the robot a new order delivery task.

[0014] Furthermore, the hardware equipment includes a barrier gate module, an elevator module, and an automatic door module.

[0015] This invention also provides an intelligent scheduling and planning method for transport robots, specifically including the following steps:

[0016] S1: Scan the entire hospital map, initialize construction, and initialize routes;

[0017] S2: Design the operation modules for barriers, elevators, and automatic doors; design the basic order module, including basic actions such as pickup, receiving, charging, and docking standby.

[0018] S3: Improved error feedback, multiple delivery addresses, elevator avoidance, one-way avoidance, area robot limit, one-way handling, and robot dispatch pre-limitation scheme to improve scheduling planning.

[0019] Furthermore, the specific method of S1 is to obtain the robot's status and location information in real time through the planning platform, divide the area into small regions according to each floor and each building, calculate the shortest path in each small region in real time and cache it to facilitate repeated calculations and speed up the operation; and form an elevator network area and the area between floors and buildings according to the area associated with the elevator, so as to facilitate the calculation of feasible routes across floors and buildings.

[0020] Furthermore, the specific method for placing orders in S2 is as follows: First, executable orders and robots capable of performing tasks are initially screened, and orders are assigned to robots. If the number of orders exceeds the number of robots, the platform is in a busy state. Based on the robot's location, the platform intelligently scans the pickup points for unprocessed orders, prioritizing orders at pickup points with the shortest processing time. If the number of orders is less than the number of robots, indicating more idle robots, the platform selects the robot with the shortest processing time from the pickup point for order assignment. After a robot is matched with an order, a complete route is planned for the robot, broken down into sub-task modules for each area and route. The robot executes these sub-task modules sequentially.

[0021] Furthermore, the specific method for picking up packages in S2 is as follows: When the platform detects that the robot has arrived at the pickup point, it will call the robot's voice broadcast function to remind the business personnel to perform relevant operations; after receiving the notification, the business personnel open their mobile terminal, find the container according to the material cart code, scan the QR code on the electronic screen of the material cart, and then scan the QR code of the material. After successful verification, they send a command to the robot to open the designated cabinet door; after the business personnel place the goods and close the door, they click to complete the release, and the platform will call the robot to continue running the next task.

[0022] Furthermore, the specific method for receiving goods in S2 is as follows: the platform monitors the robot's arrival at the receiving location and invokes the robot's voice broadcast function to remind the salesperson to perform relevant operations; after receiving the notification, the salesperson opens their mobile terminal, locates the container according to the material cart code, and scans the QR code displayed on the material cart; the platform records the operation of the salesperson and sends an instruction to the robot to open the cabinet door; after the salesperson takes out the goods and closes the cabinet door, they click to confirm receipt on their mobile phone, and the robot completes the task; the platform performs docking scheduling or charging scheduling based on the current robot battery level.

[0023] Furthermore, the specific method for charging and docking standby in S2 is as follows: the platform controls idle robots with sufficient power and not waiting at docking stations to perform return-to-home scheduling based on the robot's status information and location information; the platform obtains available docking stations based on the remaining number of dockable robots at docking stations, and controls the corresponding robots to initiate return-to-home tasks, scheduling the robots to the nearest available docking station; while the robot is performing the return-to-home task, the platform can cancel the current robot's return-to-home task at any time according to the order situation and assign the robot a new order delivery task.

[0024] Furthermore: The specific method for elevator avoidance in S3 is as follows: the platform controls the robot to perform the elevator task. When the robot runs to the elevator door, the platform will determine the elevator status. If the elevator is in use and the destination is the current location of the robot, the platform will dispatch the robot to the elevator hall door avoidance point. After the robot completes the task of going to the elevator hall door avoidance point, it will re-execute the current task.

[0025] The specific method for one-way street avoidance in S3 is as follows: When the robot starts executing a task, the platform determines whether there is a one-way street on the current task route. If a one-way street exists, the platform segments the one-way and two-way routes and determines the robot's current location. If the current location is on a one-way street, the platform checks if any subsequent locations are occupied by other robots. If so, the robot waits; otherwise, it continues executing the task until the next one-way street starting point. If the current location is not on a one-way street, the robot continues to travel to the one-way street location. When the robot's route is a one-way street, the platform allows the robot to occupy all locations on that one-way street to ensure that these locations are not occupied by other robots. If the robot fails to acquire a location, it waits in place. When the robot is waiting in place due to a one-way street, the platform determines if there is a nearby available avoidance point. If so, it performs an avoidance operation. When a robot goes to an avoidance point due to a one-way street issue, it has priority in acquiring the right-of-way, and robots waiting at the avoidance point have priority in departing once the one-way street becomes clear.

[0026] One-way line avoidance situation prediction and scheduling: When the robot performs a one-way line task, if there is a robot on the target line and the current robot position is a one-way line, then the robot obtains the adjacent position. If there is no robot at the position and there is a return line segment, then the robot uses that position as an avoidance point to perform an avoidance operation and attempts to obtain one-way line permission for the subsequent line.

[0027] The specific method for the upper limit of regional robots in S3 is as follows: each double-line point on the map can become a queuing point; the formula for calculating the upper limit of the number of queuing robots at a queuing point is: the platform will select the shortest line from all lines with a single starting point and a double destination point, subtract 1m from the length of the line, and then divide by the length of each robot itself and the queuing gap to obtain the number of robots that can be queued at the queuing point; the formula for calculating the number of robots at the queuing point is: the number of robots whose task line is the target point + the number of robots whose current position is the target point, and after deduplication, the accurate number of robots at the queuing point is obtained; after calculating the number of queuing points, the platform will cache the data, and if the map is adjusted later, the number of robots at the queuing points will be reset and manually adjusted; the queuing mechanism can ensure that the queuing channel will not block the running lines of other normal robots when the business is busy. If the number of robots at the queuing point reaches the upper limit, the robots will remain in place and wait, or calculate and select the less busy and relatively shortest path to run.

[0028] Further improvements to the scheduling plan include line time calculation, specifically the following steps:

[0029] S3-1: The length of the line on each side, divided by the robot speed allocated to that side, gives the running time of the robot running that side.

[0030] S3-2: Each line adds a 4-second buffer time for acceleration, deceleration to stop by default. Based on the line segments, each additional segment requires one acceleration and deceleration, so each segment adds 4 seconds.

[0031] S3-3: Calculate the time taken for all turning points. If the turning point is on a one-way street, add 7 seconds; if the turning point is on a two-way street, add 3 seconds.

[0032] S3-4: If there is an automatic door at the location, the additional time will be the number of automatic doors × 15 seconds.

[0033] S3-5: Calculate elevator travel time;

[0034] The elevator time calculation formula in S3-5 is T = x + y × floor difference + z

[0035] x is the fixed time taken for the robot to enter and exit the elevator × 2;

[0036] y represents the time it takes for the elevator to travel through each floor;

[0037] z represents the elevator waiting time, which is dynamically calculated based on the robot's real-time tasks. The time is the number of elevator tasks to be performed × 60 seconds.

[0038] In summary, the beneficial effects of this invention are: the platform solves the problem of how multiple robots can work together across multiple buildings and floors, improving utilization efficiency. In scenarios such as large multi-area maps and elevator use, it rationally calculates and plans routes, calculates time consumption, dispatches the optimal robot to handle tasks, and monitors other robots in the same area in real time during operation. It arranges different routes, occupies dedicated one-way lines for robots, queues resources, and autonomously bypasses obstacles, thus handling the interaction problems between robots and significantly improving the utilization efficiency of robots in the entire hospital environment. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating the interaction between the platform and the robot in an embodiment of the present invention;

[0040] Figure 2 This is a diagram of the robot scheduling infrastructure in an embodiment of the present invention;

[0041] Figure 3 This is a software system architecture diagram in an embodiment of the present invention;

[0042] Figure 4 This is a network architecture diagram in an embodiment of the present invention. Detailed Implementation

[0043] The following is in conjunction with the appendix Figure 1-4 The present invention will be described in further detail below.

[0044] Example: A scheduling and planning platform and intelligent scheduling and planning method for transport robots, such as... Figures 1 to 4 As shown, the specific steps include the following:

[0045] S1: Scan the entire hospital map, initialize construction, and initialize the line module;

[0046] During initialization, the platform interacts with the robot to obtain its status and location information in real time. It divides the platform into smaller areas based on each floor and building, calculates the shortest path within each area in real time, and caches the results for easy recalculation and faster operation. Based on the areas associated with the elevators, it forms an elevator network and areas between floors and buildings, facilitating the calculation of feasible routes across floors and buildings.

[0047] S2: Design operation modules for barriers, elevators, and automatic doors; design basic order modules, including basic actions such as pickup, receiving, charging, parking and standby, and disinfection.

[0048] 1. The platform interfaces with hardware devices such as barrier gate modules, elevator modules, and automatic door modules, and completes the robot's fixed operating procedures for these hardware devices:

[0049] For example, the elevator module: Detailed task breakdown:

[0050] (1): Lock elevator control access;

[0051] (2): If the elevator is in the open state, control the elevator to close the door;

[0052] (3): Determine if the elevator door is closed;

[0053] (4): Control the elevator to reach the starting floor;

[0054] (5): Determine if the robot is at the elevator's starting station;

[0055] (6): Determine if the elevator has reached the starting floor;

[0056] (7): Control the elevator door to open;

[0057] (8): Determine if the elevator door is open;

[0058] (9): Control the robot to enter the designated elevator;

[0059] (10): Determine if the robot is inside the elevator;

[0060] (11): Control the elevator door to close;

[0061] (12): Determine if the elevator door is closed;

[0062] (13): Control the elevator to reach the designated floor;

[0063] (14): Determine if the elevator has reached the designated floor;

[0064] (15): Control the elevator door to open;

[0065] (16): Determine if the elevator door is open;

[0066] (17): Control the robot to exit the elevator and go to the designated station;

[0067] (18): Determine if the robot has reached the elevator's destination station;

[0068] (19): Control the elevator door to close;

[0069] (20): Unlock elevator control permissions.

[0070] 2. Order Module: The platform initiates a scheduled order task, initially screening for executable orders (reasons for unexecutable orders include route or elevator planning failures, busy order pickup points, etc.). It then selects robots capable of performing the tasks (idle robots with sufficient battery power, or robots nearing completion of their tasks) for intelligent order allocation. If the number of orders exceeds the number of robots, the platform is in a busy state and should fully utilize robot efficiency. Based on the robot's location, the platform intelligently scans for unprocessed order pickup point locations, prioritizing orders from pickup points with the shortest processing time. If the number of orders is less than the number of robots, indicating more idle robots, the platform selects the robot with the shortest processing time from the pickup point for order assignment. After a robot is matched with an order, a complete route is planned for the robot, broken down into sub-task modules for each area and route. The robot executes these sub-task modules sequentially.

[0071] 3. The pickup module: When the platform detects the robot arriving at the pickup point, it will activate the robot's voice broadcast function (dynamic text) to remind the sales personnel to perform relevant operations. After receiving the notification, the sales personnel open the mobile app, locate the container according to the material cart code, scan the QR code on the electronic screen of the material cart, and then scan the QR code of the material. After successful verification, they send a command to the robot to open the designated cabinet door. After the sales personnel place the goods and close the door, they click "complete delivery," and the platform will then call the robot to continue running the next task.

[0072] 4. Receiving Module: The platform monitors the robot's arrival at the receiving location and activates its voice broadcast function (dynamic text) to remind the salesperson to perform relevant operations. Upon receiving the notification, the salesperson opens the mobile app, locates the container based on the material cart code, and scans the QR code displayed on the material cart. The platform records the salesperson's operation and sends a command to the robot to open the container door. After the salesperson retrieves the goods and closes the door, they confirm receipt on their mobile phone, completing the robot's task. The platform schedules the robot's parking or charging based on its current battery level.

[0073] 5. The homing module: Based on the robot's status and location information, the platform controls idle robots with sufficient power and not waiting at docking stations to perform homing scheduling. The platform obtains available docking stations based on the remaining number of robots that can dock at each station and controls the corresponding robot to initiate a homing task, scheduling the robot to the nearest available docking station. While the robot is performing the homing task, the platform can cancel the current robot's homing task at any time based on order status and assign the robot a new order delivery task.

[0074] S3: Improved scheduling and planning solutions include enhanced anomaly feedback, multiple delivery addresses, elevator avoidance, one-way avoidance, area robot limit, one-way handling, and robot order dispatch pre-limitation.

[0075] 1. Elevator lobby avoidance: The platform controls the robot to perform elevator tasks. When the robot reaches the elevator door, the platform will determine the elevator status. If the elevator is in use and the destination is the current robot location, the platform will dispatch the robot to the elevator lobby avoidance point (creating an avoidance task and planning the route from the robot's current location to the avoidance point). After the robot completes the avoidance task at the elevator lobby avoidance point, it will restart the current task.

[0076] 2. Active elevator resource scheduling: When a robot needs to use an elevator, if no elevator resource is allocated or it has already been claimed, the robot's elevator resource request information is stored in a queue. When the previous task on the elevator is completed, the platform checks if any robots are in the queue to request elevator resources. If so, the platform checks if there are any robots in the queue at the current floor. If so, the robot is allocated priority; otherwise, it is allocated to the robot with the longest queue time.

[0077] 3. One-Way Street Resource Handling: When a robot begins a task, the platform determines if a one-way street exists (a one-way street means that only one robot can travel on a given route). If a one-way street exists, the platform segments the route into one-way and two-way sections and determines the robot's current location. If the current location is on a one-way street, the platform checks if any subsequent locations are occupied by other robots. If so, the robot waits; otherwise, it continues until the next one-way street starting point. If the current location is not on a one-way street, the robot continues to a one-way street location. When the robot's route is a one-way street, the platform ensures that the robot occupies all locations on that one-way street, preventing other robots from occupying these resources. If the robot fails to acquire a resource, it waits in place. If the robot is waiting due to a one-way street, the platform checks if there is a nearby available avoidance point. If so, it performs an avoidance operation. When a robot goes to the avoidance point due to a one-way traffic issue, it will have the right of way to the one-way traffic first, and the robot waiting at the avoidance point will have priority to depart after the one-way traffic is cleared.

[0078] 4. One-way line avoidance situation prediction and scheduling: When the robot performs a one-way line task, if there is a robot on the target line and the current robot position is a one-way line, then the robot obtains the adjacent position. If there is no robot at the position and there is a return line segment, then the robot uses that position as an avoidance point to perform an avoidance operation and attempts to obtain one-way line permission for the subsequent line.

[0079] 5. Charging Enhancement Module: Requires a charging success rate of over 99.5%. Charging operations include successful charging, automatic exit upon full charging, and exit upon charging cancellation. Charging points can also be used as docking points. Robots charging can accept new orders as long as they meet the minimum battery requirement. Robots not charging, if they have no tasks or orders and are located at a charging point, will perform a charging task.

[0080] 6. Queue Limit for Each Route: Every two-way point on the map can become a queuing point. The formula for calculating the maximum number of robots that can queue at a queuing point is as follows: The platform selects the shortest route from all routes with a single starting point and two destination points. It subtracts 1 meter from the length of this route, then divides the result by the length of each robot and the queuing gap (approximately 1.5 meters) to determine the maximum number of robots that can queue at a given point. The formula for calculating the number of robots at a queuing point is: the number of robots whose task route leads to the destination point + the number of robots currently positioned at that point. After deduplication, the accurate number of robots at each queuing point is obtained. After calculating the number of queuing points, the platform caches the data. If the map is adjusted subsequently, the number of robots at each queuing point is reset and manually adjusted. The queuing mechanism ensures that during busy periods, queuing will not block the routes of other normally functioning robots. If the number of robots at a queuing point reaches its limit, the robots will remain in place or calculate and select the shortest, less busy path to run.

[0081] 7. Robot operation time calculation: Robot operation time calculation includes route time calculation and elevator time calculation.

[0082] Line time calculation:

[0083] (1): The length of each edge is divided by the robot speed allocated to that edge to obtain the running time of the robot running that edge.

[0084] (2): Each line adds a buffer time of 4 seconds for acceleration, deceleration to stop by default. According to the line segment, each additional segment requires one acceleration and deceleration, so each segment adds 4 seconds.

[0085] (3): Calculate the time taken for all turning points. If the turning point is on a one-way street, add 7 seconds (one-way streets are relatively narrow, so to be safe, you should slow down before turning). If the turning point is on a two-way street, add 3 seconds.

[0086] (4): If there is an automatic door at the location, the additional time will be the number of automatic doors × 15 seconds.

[0087] Elevator travel time calculation:

[0088] The formula for calculating elevator travel time is T = x + y × floor difference + z

[0089] x represents the fixed time taken for the robot to enter and exit the elevator: (elevator door opening, robot entering the elevator, elevator door closing) × 2;

[0090] y represents the time it takes for the elevator to travel through each floor;

[0091] z represents the elevator waiting time, which is dynamically calculated based on the robot's real-time tasks. The time is the number of elevator tasks to be performed × 60 seconds.

[0092] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A method for intelligent scheduling of robots, characterized by: Specifically comprising the following steps: S1: scanning the whole hospital map, initializing construction, initializing line; S2: designing the operation module of the gate, elevator and automatic door, designing the order basic module, including the basic actions of picking up, receiving goods, charging and stopping standby; S3: improving abnormal feedback, multiple delivery addresses, elevator avoidance, single line avoidance, regional robot upper limit, single line processing and robot order dispatching pre-limitation to improve the scheduling plan; The specific method of elevator avoidance in S3 is: the platform controls the robot to perform the elevator task, and when the robot runs to the elevator door, the platform judges the elevator state, if the elevator is in use and the destination is the current robot position, the robot is dispatched to the elevator hall door avoidance point; After the robot completes the task of going to the elevator hall door avoidance point, the current task is re-executed; The specific method of single line avoidance in S3 is: when the robot starts to execute the task, the platform will judge whether the line of the current task exists single line, if the single line exists, the single line line and the double line line are segmented and intercepted, and the current position of the robot is judged; If the current position is in the single line, it is judged whether the subsequent point is occupied by the robot, if yes, it waits, if no, it continues to execute the task until the next single line starting point; If the current position is not a single line, it continues to run to the front of the single line point; When the robot runs on a single line, the platform will make the robot occupy all the points on the single line to ensure that the single line point resource is not occupied by other robots; If the robot does not get the resource, it waits in place, if the robot waits in place because of the single line, the platform judges whether there is an idle avoidance point near the current point of the robot, if yes, it executes the avoidance operation; When the robot goes to the avoidance point because of the single line problem, it has the right to get the single line right, and the robot waiting at the avoidance point will start first after the single line is clear; Single line avoidance situation prediction and scheduling: when the robot executes the single line task, if there is a robot on the target line, and the current robot position is a single line, the adjacent point of the current position is obtained, if there is no robot at the point, and there is a return line segment, the point is regarded as an avoidance point to implement the avoidance operation, and the single line right of the subsequent line is tried to get; The specific method of regional robot upper limit in S3 is: each double point of the map can become a queuing point; The formula for calculating the upper limit of the number of robots queuing at the queuing point is: the platform selects the shortest one from all lines with a single starting point and a double destination point, subtracts 1m from the length of the line, and then divides by the length of each robot and the queuing gap to obtain the number of robots that can be queued at the queuing point. The calculation formula of the number of robots in the queuing point is: the number of robots in the task line of the target point + the number of robots in the current position of the point, and the accurate number of robots in the queuing point is obtained after deduplication; after calculating the number of queuing points, the platform will cache data, and if the map is adjusted subsequently, the number of robots in the queuing point will be reset and manually adjusted; the queuing mechanism ensures that the channel queuing will not block the running line of other normal robots in the case of busy business, and if the number of robots in the queuing point reaches the upper limit, the robot will stay in place or calculate and select a non-busy and relatively shortest path for running.

2. The method of claim 1, wherein: The specific method of S1 is to obtain the state information and position information of the robot in real time through the planning platform, divide small areas according to each floor and each building, calculate the shortest path in each small area in real time and cache it, so as to facilitate repeated calculation and speed up the operation speed; according to the area associated with the elevator, the elevator network area and the area between floors and buildings are formed, which is convenient for calculating the feasible line under the cross-floor building.

3. The method of claim 1, wherein: The specific method of placing an order in S2 is to preliminarily screen the executable orders and robots that can execute the tasks, and distribute the orders to the robots; if the number of orders is greater than the number of robots, it belongs to the busy state, and the platform will intelligently scan the unprocessed order pickup point position according to the position of the robot, wherein the order of the pickup point with the shortest running time is processed first; if the number of orders is less than the number of robots, it means that the robots are idle, then according to the pickup point of the order, the robot with the shortest running time from the pickup point is selected in turn to place an order, and after the robot and the order are matched, the robot will be planned a complete route, and the route will be split into sub-task modules for each area and each line, and the robot will execute the sub-task modules in sequence.

4. The method of claim 1, wherein: The specific method of collecting in S2 is: the platform detects that the robot arrives at the collection point, and calls the robot voice broadcast function to remind the business personnel to perform the related operation; after receiving the notification, the business personnel opens the mobile terminal, finds the box according to the material car code, scans the electronic screen two-dimensional code on the material car, and then scans the two-dimensional code of the material, sends an instruction to the robot to open the specified cabinet door after successful verification; after the business personnel places the goods and closes the door, clicks complete delivery, and the platform will call the robot to continue the next task.

5. The method of claim 1, wherein: The specific method of collecting in S2 is: the platform detects that the robot arrives at the collection point, and calls the robot voice broadcast function to remind the business personnel to perform the related operation; after receiving the notification, the business personnel opens the mobile terminal, finds the box according to the material car code, scans the electronic screen two-dimensional code on the material car, and then scans the two-dimensional code of the material, sends an instruction to the robot to open the specified cabinet door after successful verification; after the business personnel places the goods and closes the door, clicks complete delivery, and the platform will call the robot to continue the next task.

6. The method of claim 1, wherein: The specific method of charging and parking standby in S2 is that the platform controls idle robots with sufficient power and not waiting at the parking station to perform homing scheduling according to the state information and the point information of the robots; the platform obtains the available parking station for the robot and controls the corresponding robot to initiate a homing task to schedule the robot to reach the nearest available parking station according to the remaining number of parking robots of the parking station; when the robot performs the homing task, the platform cancels the homing task of the current robot at any time and assigns a new order delivery task to the robot according to the order situation.

7. The method of claim 1, wherein: The scheme for perfecting the scheduling plan further includes line time consumption calculation, specifically including the following steps: S3-1: the line length of each edge is divided by the robot speed allocated to the edge to obtain the running time consumption of the robot running the edge; S3-2: a buffer time consumption of 4 seconds for acceleration, deceleration to stop is added to each line by default, and according to the line segments in the line, each added segment needs to experience acceleration and deceleration once, so each segmented line adds 4 seconds; S3-3: the time consumption of all turning points is calculated, if the turning point is located on a single lane, 7 seconds are added, and if the turning point is located on a double lane, 3 seconds are added; S3-4: if there is an automatic door at the point, the time consumption added is the number of automatic doors × 15 seconds; S3-5: the elevator time consumption is calculated; The formula for calculating the elevator time consumption in S3-5 is T = x + y × floor difference + z x is the fixed time consumption of the robot entering and exiting the elevator process × 2; y is the time consumption of the elevator passing through each floor; z is the elevator waiting time, which is dynamically calculated according to the real-time task of the robot, and the time is the number of to-be-executed elevator tasks × 60 seconds.

8. A carrying robot dispatching planning platform based on the carrying robot intelligent dispatching planning method of claim 1, characterized in that: The operation module, the order module, the pickup module, the receipt module and the homing module are included. The operation module is used to connect hardware devices that need to be operated and controlled; The order module is used to screen executable orders and robots that can execute tasks, and assign orders to robots that can execute tasks; The pickup module is used to call the robot voice broadcast function, send the information of the material to the remote terminal, and control the robot cabinet door opening and closing by the business personnel through the remote terminal; The receipt module is used to monitor whether the robot reaches the receipt location, and to call the robot voice broadcast function to transmit information to the remote terminal, so that the business personnel can take out the material through the remote terminal; The homing module controls idle robots with sufficient power and not waiting at the parking station to perform homing scheduling according to the state information and the point information of the robots; the homing module obtains the available parking station for the robot and controls the corresponding robot to initiate a homing task to schedule the robot to reach the nearest available parking point according to the remaining number of parking robots of the parking station; when the robot performs the homing task, the homing module cancels the homing task of the current robot at any time and assigns a new order delivery task to the robot according to the order situation.

9. The carrier robot dispatch planning platform of claim 8, wherein: The hardware devices include a barrier module, an elevator module and an automatic door module.

Images