Mobile device scheduling method and device, computer system and storage medium

Abstract

The present disclosure provides a scheduling method for mobile devices, including: in the process of multiple mobile devices moving to resource stations that match the multiple mobile devices according to a first matching relationship, obtaining the location information of each mobile device; calculating the first total distance cost required for the multiple mobile devices to move to the resource stations that match the multiple mobile devices according to the first matching relationship according to the location information of each mobile device; in the case of detecting that the current mobile environment meets a preset condition, determining the second matching relationship and the second total distance cost corresponding to the second matching relationship according to the location information of each mobile device; determining the target matching relationship according to the first total distance cost and the second total distance cost; and scheduling the multiple mobile devices to move to the resource stations that match the multiple mobile devices according to the target matching relationship, so that the multiple mobile devices perform tasks. The present disclosure also provides a scheduling device, a computer system, and a storage medium for mobile devices.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and more specifically, to a scheduling method and device for a mobile device, a computer system, and a storage medium. Background Art

[0002] With the rapid development of e-commerce and other fields, unmanned warehouses are increasingly widely used. In unmanned warehouses, mobile devices can be dispatched to move to corresponding resource stations so that the mobile devices can perform corresponding tasks at the corresponding resource stations.

[0003] There may be multiple mobile devices and multiple resource stations in an unmanned warehouse. Currently, each mobile device is generally scheduled according to a preset corresponding relationship between the mobile device and the resource station.

[0004] However, in the process of implementing the present disclosure, the inventors found that the mobile device may encounter various emergencies during the movement, such as mobile device failure, congestion during the movement of the mobile device, etc. In these emergencies, continuing to schedule according to the preset corresponding relationship may result in a high distance cost and waste of resources. Summary of the invention

[0005] In view of this, the present disclosure provides a scheduling method and device for a mobile device, a computer system, and a storage medium.

[0006] One aspect of the present disclosure provides a scheduling method for mobile devices, comprising: in the process of multiple mobile devices moving to resource stations respectively matched with the multiple mobile devices according to a first matching relationship, obtaining the location information of each of the mobile devices; calculating, based on the location information of each of the mobile devices, a first total distance cost required for the multiple mobile devices to move to their respective matching resource stations according to the first matching relationship; when it is detected that the current mobile environment meets a preset condition, determining, based on the location information of each of the mobile devices, a second matching relationship and a second total distance cost corresponding to the second matching relationship, wherein the second matching relationship is used to characterize the resource stations respectively matched with the multiple mobile devices under the current mobile environment; determining a target matching relationship based on the first total distance cost and the second total distance cost; and scheduling the multiple mobile devices to move to their respective matching resource stations based on the target matching relationship so that the multiple mobile devices perform tasks.

[0007] According to an embodiment of the present disclosure, determining a second matching relationship and a second total distance cost corresponding to the second matching relationship based on the location information of each of the mobile devices includes: determining a plurality of matching relationships, wherein each matching relationship represents a resource station matched by each of the plurality of mobile devices; calculating a total distance cost required for the plurality of mobile devices to move to their respective matched resource stations based on each matching relationship based on the location information of each of the mobile devices and the location information of each of the resource stations; determining the minimum total distance cost among the total distance costs corresponding to each of the matching relationships; and determining the matching relationship corresponding to the minimum total distance cost among the plurality of matching relationships as the second matching relationship.

[0008] According to an embodiment of the present disclosure, determining a target matching relationship based on the first distance total cost and the second distance total cost includes: when a ratio of the second distance total cost to the first distance total cost is less than a first threshold, determining that the second matching relationship is the target matching relationship; and / or when a ratio of the second distance total cost to the first distance total cost is greater than or equal to the first threshold, determining that the first matching relationship is the target matching relationship.

[0009] According to an embodiment of the present disclosure, the preset conditions include at least one of the following: there is a new mobile device joining the multiple mobile devices; there is a mobile device exiting from the multiple mobile devices; and there is a difference between the distance cost that the mobile device actually needs to move under the first matching relationship and the originally calculated distance cost is greater than a second threshold.

[0010] According to an embodiment of the present disclosure, when it is detected that the current mobile environment satisfies the presence of a new mobile device joining the multiple mobile devices, determining a second matching relationship and a second total distance cost corresponding to the second matching relationship based on the location information of each of the mobile devices includes: acquiring the location information of the newly added mobile device; determining a second matching relationship and a second total distance cost corresponding to the second matching relationship based on the location information of each of the mobile devices and the location information of the newly added mobile device, wherein the second matching relationship is also used to characterize the resource stations that match the newly added mobile devices in the current mobile environment.

[0011] According to an embodiment of the present disclosure, the existence of a mobile device exiting from the multiple mobile devices includes: the existence of a mobile device arriving at a resource station matching the mobile device; when it is detected that the current mobile environment satisfies the existence of a mobile device arriving at a resource station matching the mobile device, determining a second matching relationship and a second total distance cost corresponding to the second matching relationship according to the location information of each of the mobile devices includes: obtaining the location information of the remaining mobile devices among the multiple mobile devices except the mobile devices arriving at the respective matching resource stations; determining a second matching relationship and a second total distance cost corresponding to the second matching relationship according to the location information of each of the remaining mobile devices, wherein the second matching relationship is used to characterize the resource stations matching the respective remaining mobile devices under the current mobile environment.

[0012] According to an embodiment of the present disclosure, the method further includes: establishing a first register, wherein the first register is used to store the first matching relationship; and when it is determined that the target matching relationship is the second matching relationship, updating the first matching relationship in the first register to the second matching relationship.

[0013] According to an embodiment of the present disclosure, the method also includes: establishing a second register, wherein the second register is used to store a first distance total cost calculated based on the first matching relationship; and when it is determined that the target matching relationship is the second matching relationship, updating the first distance total cost in the second register to the second distance total cost.

[0014] Another aspect of the present disclosure provides a scheduling device for mobile devices, including: an acquisition module, used to acquire the location information of each mobile device in the process of multiple mobile devices moving to the resource stations respectively matched with the multiple mobile devices according to a first matching relationship; a calculation module, used to calculate the first total distance cost required for the multiple mobile devices to move to the respectively matched resource stations according to the first matching relationship based on the location information of each mobile device; a first determination module, used to determine a second matching relationship and a second total distance cost corresponding to the second matching relationship based on the location information of each mobile device when it is detected that the current mobile environment meets a preset condition, wherein the second matching relationship is used to characterize the resource stations respectively matched with the multiple mobile devices under the current mobile environment; a second determination module, used to determine a target matching relationship based on the first total distance cost and the second total distance cost; and a scheduling module, used to schedule the multiple mobile devices to move to the respectively matched resource stations according to the target matching relationship so that the multiple mobile devices perform tasks.

[0015] Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the above method when executed.

[0016] Another aspect of the present disclosure provides a computer program, which includes computer executable instructions, and the instructions are used to implement the method described above when executed.

[0017] Another aspect of the present disclosure provides a computer system, including: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above.

[0018] According to the embodiment of the present disclosure, a technical means is adopted in which, in the process of multiple mobile devices moving to resource stations that are matched with each of the multiple mobile devices according to the first matching relationship, the first total distance cost required for each mobile device to move to the resource station that matches each of the multiple mobile devices under the first matching relationship is calculated according to the location information of each mobile device, and when it is detected that the current mobile environment meets the preset conditions, the second matching relationship and the second total distance cost corresponding to the second matching relationship are determined according to the location information of each mobile device, the target matching relationship is determined according to the first total distance cost and the second total distance cost, and each mobile device is scheduled to move to the resource station that matches each of the multiple mobile devices according to the target matching relationship. Since the matching relationship is re-determined according to the preset conditions during the movement of each mobile device, and the final matching relationship is determined according to the total distance cost, it can ensure that the distance cost of each mobile device moving to the resource station that matches each of the multiple mobile devices is minimized, so the technical problem of high distance cost caused by emergencies during the movement of the mobile device in the related art is at least partially overcome, thereby achieving the technical effect of saving resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0020] Figure 1 The application scenarios of the scheduling method and device for a mobile device in the embodiments of the present disclosure are schematically shown;

[0021] Figure 2 A flowchart of a scheduling method for a mobile device to which an embodiment of the present disclosure can be applied is schematically shown;

[0022] Figure 3 A schematic diagram schematically shows a second matching relationship according to an embodiment of the present disclosure;

[0023] Figure 4A flowchart of a method for determining a second matching relationship and a second distance total cost corresponding to the second matching relationship according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 5 A flowchart of a method for determining a second matching relationship and a second distance total cost corresponding to the second matching relationship according to another embodiment of the present disclosure is schematically shown;

[0025] Figure 6 A schematic diagram schematically shows a second matching relationship according to another embodiment of the present disclosure;

[0026] Figure 7 A flowchart of a method for determining a second matching relationship and a second distance total cost corresponding to the second matching relationship according to an embodiment of the present disclosure is schematically shown;

[0027] Figure 8 A schematic diagram schematically shows a second matching relationship according to another embodiment of the present disclosure;

[0028] Fig. 9 A flowchart schematically shows a method for updating a matching relationship according to an embodiment of the present disclosure;

[0029] Fig.10 A flowchart of a method for updating the total distance cost according to an embodiment of the present disclosure is schematically shown;

[0030] Fig.11 A block diagram schematically showing a scheduling device of a mobile device according to an embodiment of the present disclosure; and

[0031] Fig.12 A block diagram schematically shows a computer system of a scheduling method and apparatus suitable for a mobile device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0033] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0034] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0035] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, or C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0036] The embodiments of the present disclosure provide a scheduling method and device for mobile devices. The method includes obtaining the location information of each mobile device in the process of multiple mobile devices moving to resource stations that are matched with each of the multiple mobile devices according to a first matching relationship; calculating the first total distance cost required for multiple mobile devices to move to their respective matching resource stations according to the first matching relationship according to the location information of each mobile device; determining a second matching relationship and a second total distance cost corresponding to the second matching relationship according to the location information of each mobile device when it is detected that the current mobile environment meets a preset condition, wherein the second matching relationship is used to characterize the resource stations that are matched with each of the multiple mobile devices under the current mobile environment; determining a target matching relationship according to the first total distance cost and the second total distance cost; and scheduling multiple mobile devices to move to their respective matching resource stations according to the target matching relationship so that the multiple mobile devices perform tasks.

[0037] Figure 1 The application scenario 100 of the scheduling method and device of the mobile device of the embodiment of the present disclosure is schematically shown. It should be noted that: Figure 1 What is shown are merely examples of application scenarios to which the embodiments of the present disclosure can be applied, in order to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios.

[0038] like Figure 1As shown, according to the application scenario 100 of this embodiment, the unmanned warehouse may include a mobile device 101, a mobile device 102, a mobile device 103, a resource station 110, a resource station 120 and a resource station 130.

[0039] Among them, the mobile device can be, for example, an automated guided vehicle (AGV), a mobile robot, a handling device, and other movable devices in an unmanned warehouse. Resource stations can be, for example, shelves, charging piles, queues, slots, and other sites that can provide resources such as items, power, and space for mobile devices.

[0040] Each mobile device can move to each resource station according to a preset matching relationship, wherein the preset matching relationship can be a preset corresponding relationship between each mobile device and each resource station. Figure 1 As shown, mobile device 101 corresponds to resource station 130, mobile device 102 corresponds to resource station 110, and mobile device 103 corresponds to resource station 120. According to this matching relationship, mobile device 101 can move to resource station 130, mobile device 102 can move to resource station 110, and mobile device 103 can move to resource station 120.

[0041] Taking the mobile device as an automatic guided vehicle as an example, each automatic guided vehicle can move to the resource station that matches it according to a preset matching relationship, so as to perform the corresponding task after arriving at the resource station.

[0042] For example, each automated guided transport vehicle can move to its respective matching shelf according to a preset matching relationship, so as to transport the shelf or the items on the shelf to a workstation, so that employees at the workstation can select the items.

[0043] For another example, each automated guided transport vehicle can also move to its respective matching charging pile according to a preset matching relationship so as to charge at the charging pile.

[0044] For another example, in a scenario where an automated guided transport vehicle returns to the warehouse, each automated guided transport vehicle can also move to its respective matching queue position according to a preset matching relationship so that the automated guided transport vehicles can queue up to return to the warehouse.

[0045] For another example, in the scenario of an automated guided transport vehicle leaving the warehouse, each automated guided transport vehicle can also move to its respective matching slot according to a preset matching relationship, so that the automated guided transport vehicle can automatically leave the warehouse after reaching its respective matching slot.

[0046] It should be understood that Figure 1 The number of mobile devices and resource stations in the embodiment is only for illustration. Any number of mobile devices and resource stations may be provided according to implementation requirements.

[0047] Figure 2 The flowchart of the scheduling method of the mobile device according to the embodiment of the present disclosure is schematically shown.

[0048] like Figure 2 As shown, the method includes operations S201 to S205.

[0049] In operation S201 , in the process of a plurality of mobile devices moving to resource stations respectively matched with the plurality of mobile devices according to a first matching relationship, location information of each mobile device is acquired.

[0050] According to the embodiments of the present disclosure, the mobile device may be, for example, an automated guided vehicle, a mobile robot, a handling device, etc., and the resource station may be, for example, a shelf, a charging pile, a queue position, a slot, etc. Taking the mobile device as an automated guided vehicle as an example, the automated guided vehicle may move to a shelf, a charging pile, a queue position, or a slot according to a preset matching relationship, so as to carry shelves and / or items, charge, queue back to the warehouse, or automatically leave the warehouse.

[0051] According to the embodiment of the present disclosure, the preset matching relationship may be, for example, a correspondence relationship between each mobile device and each resource station calculated in advance according to certain objectives and constraints. For example, the sum of the distances of each mobile device to each matched resource station may be set to be the minimum as the objective function, and the optimal matching relationship may be obtained by solving the objective function. The objective function may be expressed by the following formula (1).

[0052] min∑ i∈I ∑ j∈J L ij x ij Formula (I)

[0053] Among them, x ij =1 means mobile device i moves to resource station j, L ij represents the distance cost between mobile device i and resource station j. The distance cost between mobile device i and resource station j can be determined according to the location information of each mobile device.

[0054] The constraints of the objective function can be expressed, for example, by the following formula (2) and formula (3).

[0055] ∑ j∈J x ij ≤1 Formula (II)

[0056] ∑ i∈I x ij =1 Formula (III)

[0057] Among them, x ij ∈{0, 1}.

[0058] According to the embodiment of the present disclosure, a matching relationship that minimizes the sum of the distances of each mobile device to its respective matched resource station can be solved through the above objective function and constraint conditions.

[0059] According to the disclosed embodiment, before the mobile device moves, a static optimal matching relationship can be solved according to the location information of the mobile device through the above objective function and constraint conditions, so that the mobile device initially moves according to the static matching relationship.

[0060] According to the embodiment of the present disclosure, the static optimal matching relationship may be referred to as a first matching relationship. The first matching relationship may be, for example, Figure 1 The corresponding relationship between each mobile device and resource station is shown in FIG. Figure 1 As shown, the mobile device 101 corresponds to the resource station 130 , the mobile device 102 corresponds to the resource station 110 , and the mobile device 103 corresponds to the resource station 120 .

[0061] In operation S202 , a first total distance cost required for a plurality of mobile devices to move to respective matched resource stations according to a first matching relationship is calculated based on the location information of each mobile device.

[0062] According to an embodiment of the present disclosure, during the movement of a mobile device according to a preset matching relationship, the location information of each mobile device can be acquired in real time, and the total distance cost of each mobile device under the first matching relationship can be calculated in real time based on the location information of each mobile device.

[0063] In operation S203, when it is detected that the current mobile environment meets the preset conditions, a second matching relationship and a second total distance cost corresponding to the second matching relationship are determined according to the location information of each mobile device, wherein the second matching relationship is used to characterize the resource stations that are matched by multiple mobile devices respectively in the current mobile environment.

[0064] The preset condition may include at least one of the following: a new mobile device joins the multiple mobile devices; a mobile device exits from the multiple mobile devices; and a difference between the distance cost actually required to be moved by the mobile device under the first matching relationship and the originally calculated distance cost is greater than a second threshold. The mobile device may move according to coordinate points, and the distance cost of each coordinate point may be the same. The second threshold may be, for example, 30 coordinate points.

[0065] According to the disclosed embodiment, when each mobile device moves to its respective matching resource station according to the static optimal matching relationship, if no unexpected situation occurs, the sum of the distance costs of each mobile device moving to its respective matching resource station can be guaranteed to be minimal. However, when each mobile device is moving, various situations may occur in the current mobile environment, such as a new automated guided transport vehicle joining or exiting, or a traffic jam during the movement of the automated guided transport vehicle, resulting in a significant change in the distance cost actually generated by the automated guided transport vehicle according to the original matching relationship compared to the distance cost corresponding to the original matching relationship.

[0066] According to the disclosed embodiment, when the above situation occurs, re-matching can be performed to determine a new matching relationship. Specifically, according to the current position information of each automated guided transport vehicle, a new matching relationship can be obtained by solving the above objective function, and the new matching relationship can be called a second matching relationship. Under the second matching relationship, the sum of the distances that each automated guided transport vehicle moves from the current position to the respective matching resource station can be minimized.

[0067] For example, according to the first matching relationship, the automated guided transport vehicle 101 corresponds to the resource station 130, and the automated guided transport vehicle 101 needs to move 100 coordinate points to move to the resource station 130. When the automated guided transport vehicle 101 moves to the 10th coordinate point, if a new vehicle joins or exits, the second matching relationship can be obtained by solving the above objective function based on the current position information of each automated guided transport vehicle.

[0068] For another example, under the first matching relationship, the distance cost for the automatic guided transport vehicle 101 to move to the resource station 130 is 100 coordinate points. When the automatic guided transport vehicle 101 moves to the 10th coordinate point, if a traffic jam is detected ahead, the automatic guided transport vehicle 101 actually needs to move 50 more coordinate points to move to the resource station 130. At this time, under the first matching relationship, the actual distance cost that the automatic guided transport vehicle 101 needs to move is 150 coordinate points, and the difference between the actual distance cost and the originally calculated distance cost is 50 coordinate points, which is greater than the preset second threshold of 30 coordinate points, that is, the actual distance cost that the automatic guided transport vehicle needs to move has changed significantly compared to the distance cost calculated under the original matching relationship. In this case, the second matching relationship can be obtained by solving the above objective function based on the current position information of each automatic guided transport vehicle.

[0069] According to the embodiment of the present disclosure, during the movement of the mobile device, a rematching mechanism can be triggered according to preset conditions, so as to achieve dynamic optimization of the matching relationship, so that the sum of the actual distance costs of each mobile device moving to its respective matching resource station is minimized.

[0070] Figure 3 A schematic diagram schematically shows a second matching relationship according to an embodiment of the present disclosure.

[0071] According to the embodiment of the present disclosure, the second matching relationship can be, for example, Figure 3 As shown, the automated guided transport vehicle 101 may correspond to the resource station 110 , the automated guided transport vehicle 102 may correspond to the resource station 130 , and the automated guided transport vehicle 103 may correspond to the resource station 120 .

[0072] In operation S204, a target matching relationship is determined according to the first distance total cost and the second distance total cost.

[0073] According to an embodiment of the present disclosure, when the second matching relationship is obtained, it can be determined whether to use the first matching relationship for scheduling or the second matching relationship for scheduling based on the relationship between the total distance cost under the first matching relationship and the total distance cost under the second matching relationship.

[0074] According to an embodiment of the present disclosure, when the ratio of the second distance total cost to the first distance total cost is less than the first threshold, the second matching relationship is determined to be the target matching relationship. When the ratio of the second distance total cost to the first distance total cost is greater than or equal to the first threshold, the first matching relationship is determined to be the target matching relationship.

[0075] According to an embodiment of the present disclosure, the ratio of the total distance cost under the second matching relationship to the total distance cost under the first matching relationship can be used as a sensitivity index. When the sensitivity index is less than a preset threshold, it can be determined to adopt the second matching relationship for scheduling. Conversely, when the sensitivity index is not less than the preset threshold, it can be determined to adopt the first matching relationship for scheduling.

[0076] According to an embodiment of the present disclosure, the first threshold may be 0.8. For example, the total cost of the first distance may be 1000 coordinate points. When the total cost of the second distance is less than 800 coordinate points, it may be determined that the second matching relationship is used for scheduling, which can save the distance cost. When the total cost of the second distance is not less than 800 coordinate points, for example, the total cost of the second distance may be 1100 coordinate points, the use of the second matching relationship for scheduling may increase the distance cost. In this case, the first matching relationship may be used for scheduling. Alternatively, the total cost of the second distance may be, for example, 900 coordinate points. Although the use of the second matching relationship for scheduling may save the distance cost of 100 coordinate points, since the matching relationship needs to be updated for each mobile device, the cost caused by the update operation needs to be considered. In this case, the first matching relationship may continue to be used for scheduling.

[0077] According to the embodiment of the present disclosure, the final matching relationship is determined based on the relationship between the total distance cost under the first matching relationship and the total distance cost under the second matching relationship, which can ensure that the total distance cost of each mobile device moving to its respective matching resource station is actually minimized.

[0078] In operation S205 , the plurality of mobile devices are scheduled to move to their respective matched resource stations according to the target matching relationship, so that the plurality of mobile devices can perform tasks.

[0079] According to the embodiment of the present disclosure, when it is determined that the second matching relationship is used for scheduling, each automated guided transport vehicle can move to its respective matching resource station according to the second matching relationship. Figure 3 Under the second matching relationship shown, the automatic guided transport vehicle 101 can move toward the resource station 110 starting from the position of the 10th coordinate point.

[0080] According to the embodiment of the present disclosure, in the process of multiple mobile devices moving to resource stations that are matched with each of the multiple mobile devices according to the first matching relationship, the first total distance cost required for each mobile device to move to the resource station that is matched with each of the mobile devices under the first matching relationship is calculated according to the location information of each mobile device, and when it is detected that the current mobile environment meets the preset conditions, the second matching relationship and the second total distance cost corresponding to the second matching relationship are determined according to the location information of each mobile device, and the target matching relationship is determined according to the first total distance cost and the second total distance cost, and each mobile device is scheduled to move to the resource station that is matched with each of the mobile devices according to the target matching relationship. Since the matching relationship is re-determined according to the preset conditions during the movement of each mobile device, the matching relationship can be dynamically optimized, and the final matching relationship is determined according to the total distance cost, which can ensure that the distance cost of each mobile device moving to the resource station that is matched with each of the mobile devices is minimized, saving resources.

[0081] According to the embodiments of the present disclosure, since the dynamic optimization of the matching relationship can be guaranteed, the intelligence of the scheduling of automatic guided vehicles is improved, and the scalability of the scheduling system to cope with complex scenarios is improved.

[0082] Figure 4 The flowchart of the method for determining the second matching relationship and the second total distance cost corresponding to the second matching relationship according to the embodiment of the present disclosure is schematically shown.

[0083] like Figure 4 As shown, operation S203 may include operations S401 to S404.

[0084] In operation S401 , a plurality of matching relationships are determined, wherein each matching relationship represents a resource station that matches each of a plurality of mobile devices.

[0085] According to the embodiment of the present disclosure, in the case where re-matching is required, multiple matching relationships can be determined, and each matching relationship can represent the corresponding relationship between each automated guided transport vehicle and each resource station.

[0086] In operation S402, based on the location information of each mobile device and the location information of each resource station, a total distance cost required for a plurality of mobile devices to move to the respective matched resource stations according to each matching relationship is calculated.

[0087] According to the embodiment of the present disclosure, based on the position information of each automated guided transport vehicle and the position information of each resource station, a new matching relationship can be calculated through the above-mentioned objective function and constraint conditions.

[0088] In operation S403 , the minimum total distance cost among the total distance costs corresponding to each matching relationship is determined.

[0089] According to the embodiment of the present disclosure, for each matching relationship, a total distance cost corresponding to the matching relationship can be calculated, and the minimum total distance cost among all the total distance costs can be determined.

[0090] In operation S404, a matching relationship corresponding to the smallest total distance cost among the multiple matching relationships is determined as a second matching relationship.

[0091] According to the embodiment of the present disclosure, the matching relationship corresponding to the minimum total distance cost may be used as the matching relationship obtained after re-matching.

[0092] Figure 5 A flowchart of a method for determining a second matching relationship and a second total distance cost corresponding to the second matching relationship according to another embodiment of the present disclosure is schematically shown.

[0093] like Figure 5 As shown, operation S203 may further include operations S501 to S502.

[0094] In operation S501, location information of a newly added mobile device is acquired.

[0095] According to an embodiment of the present disclosure, when a new automated guided transport vehicle is added, the position information of the new automated guided transport vehicle can be obtained.

[0096] In operation S502, a second matching relationship and a second total distance cost corresponding to the second matching relationship are determined according to the location information of each mobile device and the location information of the newly added mobile device, wherein the second matching relationship is also used to characterize the resource stations matched by the newly added mobile devices in the current mobile environment.

[0097] According to an embodiment of the present disclosure, based on the position information of automatic guided transport vehicle 101, automatic guided transport vehicle 102, automatic guided transport vehicle 103 and the newly added automatic guided transport vehicle, the second matching relationship can be recalculated through the above-mentioned objective function and constraints. The second matching relationship can include the corresponding relationship between the newly added automatic guided transport vehicle and the resource station.

[0098] Figure 6 A schematic diagram schematically illustrates a second matching relationship according to another embodiment of the present disclosure.

[0099] like Figure 6 As shown, the automatic guided transport vehicle 104 can be a newly added automatic guided transport vehicle, the resource station 140 can be a newly added resource station, the automatic guided transport vehicle 101 can correspond to the resource station 110, the automatic guided transport vehicle 102 can correspond to the resource station 130, the automatic guided transport vehicle 103 can correspond to the resource station 140, and the newly added automatic guided transport vehicle 104 can correspond to the resource station 120.

[0100] According to an embodiment of the present disclosure, the situation where a mobile device exits from multiple mobile devices may include that a mobile device arrives at a resource station matched with the mobile device, thereby exiting the scheduling. At this time, a rematching mechanism may be triggered to re-determine the optimal matching relationship.

[0101] Figure 7 A flowchart of a method for determining a second matching relationship and a second total distance cost corresponding to the second matching relationship according to another embodiment of the present disclosure is schematically shown.

[0102] like Figure 7 As shown, operation S203 may further include operations S701 to S702.

[0103] In operation S701 , location information of remaining mobile devices among a plurality of mobile devices except for mobile devices that have arrived at respective matched resource stations is acquired.

[0104] According to an embodiment of the present disclosure, following the above example, under the first matching relationship, when the automatic guided transport vehicle 103 reaches the resource station 120, the automatic guided transport vehicle 103 exits the scheduling, and the location information of the mobile device 101 and the mobile device 102 can be obtained.

[0105] In operation S702, a second matching relationship and a second total distance cost corresponding to the second matching relationship are determined according to the location information of each of the remaining mobile devices, wherein the second matching relationship is used to characterize the resource stations matched by the remaining mobile devices in the current mobile environment.

[0106] According to the embodiment of the present disclosure, following the above example, a new second matching relationship can be calculated based on the position information of the remaining automated guided transport vehicles 101 and 102 through the above objective function and constraint conditions. The second matching relationship may include a corresponding relationship between each mobile device except the mobile device 103 and the resource station.

[0107] Figure 8 A schematic diagram schematically illustrates a second matching relationship according to another embodiment of the present disclosure.

[0108] like Figure 8 As shown, the correspondence between the remaining mobile devices and the resource stations may include that the mobile device 101 may correspond to the resource station 110 , and the mobile device 102 may correspond to the resource station 130 .

[0109] According to the embodiment of the present disclosure, a re-matching mechanism can also be set to trigger a re-matching every certain time period so as to promptly determine the optimal matching relationship and update the optimal matching relationship in real time, thereby ensuring that the sum of the distances that each mobile device moves to its respective matching resource station is actually minimized.

[0110] Fig. 9 The flowchart of the method for updating the matching relationship according to the embodiment of the present disclosure is schematically shown.

[0111] like Fig. 9 As shown, the method may include operations S901 to S902.

[0112] In operation S901 , a first register is established, where the first register is used to store a first matching relationship.

[0113] According to the embodiment of the present disclosure, a register for storing matching relationships may be established, in which the optimal matching relationship updated in real time is saved. For example, before the mobile device starts to move, a pre-calculated static first matching relationship may be saved.

[0114] In operation S902 , when it is determined that the target matching relationship is the second matching relationship, the first matching relationship in the first register is updated to the second matching relationship.

[0115] According to the embodiment of the present disclosure, when it is determined to adopt the second matching relationship, the first matching relationship stored in the register may be replaced with the second matching relationship to ensure real-time updating of the optimal matching relationship.

[0116] Fig.10 The flowchart of the method for updating the total distance cost according to the embodiment of the present disclosure is schematically shown.

[0117] In operation S1001 , a second register is established, where the second register is used to store a first distance total cost calculated based on a first matching relationship.

[0118] According to the embodiment of the present disclosure, a register for storing the total distance cost can be established, in which the total distance cost corresponding to the optimal matching relationship updated in real time is stored. For example, before the mobile device starts to move, a pre-calculated static first matching relationship can be stored.

[0119] In operation S1002 , when it is determined that the target matching relationship is the second matching relationship, the first distance total cost in the second register is updated to the second distance total cost.

[0120] According to an embodiment of the present disclosure, when it is determined to adopt the second matching relationship, the first distance total cost stored in the register may be replaced by the second distance total cost.

[0121] According to an embodiment of the present disclosure, a series of registers may be established, for example, the series of registers may include a third register, a fourth register, and a fifth register. The total cost of the first distance under the first matching relationship may be saved in the third register. When the second matching relationship is calculated, the total cost of the second distance under the second matching relationship may be saved in the fourth register. The fifth register may be used to save a sensitivity threshold. When the second matching relationship is calculated, the ratio of the total cost of the second distance in the fourth register to the total cost of the first distance in the third register may be compared with the sensitivity threshold in the fifth register to determine whether to adopt the first matching relationship for scheduling or to select the second matching relationship for scheduling.

[0122] Fig.11 A block diagram of a scheduling device of a mobile device according to an embodiment of the present disclosure is schematically shown.

[0123] like Fig.11 As shown, the scheduling device 1100 of the mobile apparatus includes an acquisition module 1101 , a calculation module 1102 , a first determination module 1103 , a second determination module 1104 and a scheduling module 1105 .

[0124] The acquisition module 1101 is used to acquire the location information of each mobile device in the process of multiple mobile devices moving to the resource stations matched with each of the multiple mobile devices according to the first matching relationship.

[0125] The calculation module 1102 is used to calculate, based on the location information of each mobile device, a first total distance cost required for multiple mobile devices to move to their respective matched resource stations according to the first matching relationship.

[0126] The first determination module 1103 is used to determine a second matching relationship and a second total distance cost corresponding to the second matching relationship based on the location information of each mobile device when it is detected that the current mobile environment meets the preset conditions, wherein the second matching relationship is used to characterize the resource stations that are matched by multiple mobile devices respectively in the current mobile environment.

[0127] The second determination module 1104 is used to determine the target matching relationship according to the first distance total cost and the second distance total cost.

[0128] The scheduling module 1105 is used to schedule multiple mobile devices to move to their respective matched resource stations according to the target matching relationship, so that the multiple mobile devices can perform tasks.

[0129] According to an embodiment of the present disclosure, the first determination module 1103 may include: a first determination unit, a first calculation unit, a second determination unit, and a third determination unit.

[0130] The first determining unit is used to determine a plurality of matching relationships, wherein each matching relationship represents a resource station matched by each of the plurality of mobile devices.

[0131] The first calculation unit is used to calculate the total distance cost required for multiple mobile devices to move to the respective matched resource stations according to each matching relationship based on the location information of each mobile device and the location information of each resource station.

[0132] The second determining unit is used to determine the minimum total distance cost among the total distance costs corresponding to each matching relationship.

[0133] The third determining unit is used to determine a matching relationship corresponding to the smallest total distance cost among the multiple matching relationships as the second matching relationship.

[0134] According to an embodiment of the present disclosure, the second determining module 1104 may include: a fourth determining unit and a fifth determining unit.

[0135] The fourth determining unit is used to determine that the second matching relationship is a target matching relationship when a ratio of the second distance total cost to the first distance total cost is less than a first threshold.

[0136] The fifth determining unit is configured to determine that the first matching relationship is a target matching relationship when a ratio of the second distance total cost to the first distance total cost is greater than or equal to a first threshold.

[0137] According to an embodiment of the present disclosure, the preset conditions may include at least one of the following: there is a new mobile device joining multiple mobile devices; there is a mobile device exiting from multiple mobile devices; and there is a difference between the distance cost actually required to move by the mobile device under the first matching relationship and the originally calculated distance cost is greater than a second threshold.

[0138] According to an embodiment of the present disclosure, the first determining module 1103 may further include: a first acquiring unit and a sixth determining unit.

[0139] The first acquisition unit is used for acquiring the location information of the newly added mobile device when it is detected that the current mobile environment satisfies that a new mobile device has joined the multiple mobile devices.

[0140] The sixth determination unit is used to determine the second matching relationship and the second total distance cost corresponding to the second matching relationship according to the location information of each mobile device and the location information of the newly added mobile device, wherein the second matching relationship is also used to characterize the resource stations matched by each newly added mobile device in the current mobile environment.

[0141] According to the embodiment of the present disclosure, the first determining module 1103 may further include: a second acquiring unit and a seventh determining unit.

[0142] The second acquisition unit is used to acquire location information of the remaining mobile devices among the multiple mobile devices except the mobile devices that have arrived at the respective matching resource stations when it is detected that the current mobile environment satisfies that there is a mobile device that has arrived at the resource station that matches the mobile device.

[0143] The seventh determination unit is used to determine a second matching relationship and a second total distance cost corresponding to the second matching relationship according to the location information of each of the remaining mobile devices, wherein the second matching relationship is used to characterize the resource stations matched by the remaining mobile devices in the current mobile environment.

[0144] According to an embodiment of the present disclosure, the scheduling device 1100 of the mobile apparatus may further include: a first establishing module and a first updating module.

[0145] The first establishing module is used to establish a first register, wherein the first register is used to store a first matching relationship.

[0146] The first updating module is used for updating the first matching relationship in the first register to the second matching relationship when it is determined that the target matching relationship is the second matching relationship.

[0147] According to an embodiment of the present disclosure, the scheduling device 1100 of the mobile device may further include: a second establishing module and a second updating module.

[0148] The second establishing module is used to establish a second register, wherein the second register is used to store the first distance total cost calculated based on the first matching relationship.

[0149] The second updating module is used to update the first distance total cost in the second register to the second distance total cost when it is determined that the target matching relationship is the second matching relationship.

[0150] According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be performed.

[0151] For example, any multiple of the acquisition module 1101, the calculation module 1102, the first determination module 1103, the second determination module 1104, and the scheduling module 1105 can be combined in one module / unit / sub-unit for implementation, or any one of the modules / units / sub-units can be split into multiple modules / units / sub-units. Alternatively, at least part of the functions of one or more of these modules / units / sub-units can be combined with at least part of the functions of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to an embodiment of the present disclosure, at least one of the acquisition module 1101, the calculation module 1102, the first determination module 1103, the second determination module 1104, and the scheduling module 1105 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or by any one of the three implementation methods of software, hardware, and firmware, or by an appropriate combination of any of them. Alternatively, at least one of the acquisition module 1101, the calculation module 1102, the first determination module 1103, the second determination module 1104, and the scheduling module 1105 can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be executed.

[0152] It should be noted that the scheduling device part of the mobile device in the embodiment of the present disclosure corresponds to the scheduling method part of the mobile device in the embodiment of the present disclosure. The description of the data processing system part specifically refers to the data processing method part and will not be repeated here.

[0153] Fig.12 A block diagram of a computer system suitable for implementing the method described above according to an embodiment of the present disclosure is schematically shown. Fig.12 The computer system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0154] like Fig.12 As shown, the computer system 1200 according to an embodiment of the present disclosure includes a processor 1201, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1202 or a program loaded from a storage part 1208 into a random access memory (RAM) 1203. The processor 1201 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1201 may also include an onboard memory for caching purposes. The processor 1201 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0155] In RAM 1203, various programs and data required for the operation of system 1200 are stored. Processor 1201, ROM 1202 and RAM 1203 are connected to each other through bus 1204. Processor 1201 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 1202 and / or RAM 1203. It should be noted that the program can also be stored in one or more memories other than ROM 1202 and RAM 1203. Processor 1201 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0156] According to an embodiment of the present disclosure, the system 1200 may further include an input / output (I / O) interface 1205, which is also connected to the bus 1204. The system 1200 may further include one or more of the following components connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the I / O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed, so that a computer program read therefrom is installed into the storage section 1208 as needed.

[0157] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1209, and / or installed from the removable medium 1211. When the computer program is executed by the processor 1201, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0158] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0159] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0160] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 1202 and / or the RAM 1203 described above and / or one or more memories other than the ROM 1202 and the RAM 1203 .

[0161] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments and / or claims of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0162] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A scheduling method for a mobile device, include: In the process of multiple mobile devices moving to the resource stations respectively matched with the multiple mobile devices according to the first matching relationship, obtaining the location information of each of the mobile devices; Calculating, according to the location information of each of the mobile devices, a first total distance cost required for the multiple mobile devices to move to the respective matched resource stations according to the first matching relationship; In the case where it is detected that the current mobile environment meets the preset condition, a second matching relationship and a second total distance cost corresponding to the second matching relationship are determined according to the location information of each of the mobile devices, wherein the second matching relationship is used to characterize the resource stations that the multiple mobile devices respectively match under the current mobile environment, and the preset condition characterizes the change amount condition of the mobile environment, wherein the second matching relationship is a matching relationship in which the sum of the distances of the various mobile devices to the respective matching resource stations is the smallest under the preset condition; determining a target matching relationship according to the first distance total cost and the second distance total cost; and According to the target matching relationship, the plurality of mobile devices are scheduled to move to the respective matched resource stations so that the plurality of mobile devices can perform tasks; Wherein, determining the target matching relationship according to the first distance total cost and the second distance total cost includes: When the ratio of the second distance total cost to the first distance total cost is less than a first threshold, determining the second matching relationship as the target matching relationship; and / or When the ratio of the second distance total cost to the first distance total cost is greater than or equal to the first threshold, the first matching relationship is determined to be the target matching relationship.

2. The method according to claim 1, in, Determining, according to the location information of each of the mobile devices, a second matching relationship and a second total distance cost corresponding to the second matching relationship includes: Determine a plurality of matching relationships, wherein each matching relationship represents a resource station matched by each of the plurality of mobile devices; According to the location information of each mobile device and the location information of each resource station, calculating the total distance cost required for the multiple mobile devices to move to the respective matched resource stations according to each matching relationship; Determine the minimum total distance cost among the total distance costs corresponding to each matching relationship; and A matching relationship among the multiple matching relationships corresponding to the minimum total distance cost is determined as the second matching relationship.

3. The method according to claim 1, wherein the preset condition comprises at least one of the following: There is a new mobile device joining the plurality of mobile devices; A mobile device exits from the plurality of mobile devices; as well as There is a difference between the distance cost that the mobile device actually needs to move under the first matching relationship and the originally calculated distance cost that is greater than a second threshold.

4. The method according to claim 3, in, In the case where it is detected that the current mobile environment satisfies that a new mobile device has joined the multiple mobile devices, determining the second matching relationship and the second total distance cost corresponding to the second matching relationship according to the location information of each of the mobile devices includes: Obtaining location information of a newly added mobile device; According to the location information of each of the mobile devices and the location information of the newly added mobile device, a second matching relationship and a second total distance cost corresponding to the second matching relationship are determined, wherein the second matching relationship is also used to characterize the resource stations matched by each of the newly added mobile devices in the current mobile environment.

5. The method according to claim 3, in, The presence of the mobile device exiting from the plurality of mobile devices comprises: the presence of the mobile device arriving at a resource station matching the mobile device; In the case where it is detected that the current mobile environment satisfies that there is a mobile device arriving at a resource station matching the mobile device, determining a second matching relationship and a second total distance cost corresponding to the second matching relationship according to location information of each of the mobile devices includes: Acquire location information of remaining mobile devices among the plurality of mobile devices except the mobile devices that have arrived at the respective matched resource stations; A second matching relationship and a second total distance cost corresponding to the second matching relationship are determined according to the location information of each of the remaining mobile devices, wherein the second matching relationship is used to characterize the resource stations that are matched by the remaining mobile devices respectively in the current mobile environment.

6. The method according to claim 1, further comprising: include: establishing a first register, wherein the first register is used to store the first matching relationship; and When it is determined that the target matching relationship is the second matching relationship, the first matching relationship in the first register is updated to the second matching relationship.

7. The method according to claim 1, further comprising: include: Establishing a second register, wherein the second register is used to store a first distance total cost calculated based on the first matching relationship; and When it is determined that the target matching relationship is the second matching relationship, the first distance total cost in the second register is updated to the second distance total cost.

8. A dispatching device for a mobile device, include: An acquisition module, configured to acquire location information of each of the mobile devices in a process where the multiple mobile devices move to resource stations that are matched with the multiple mobile devices respectively according to the first matching relationship; A calculation module, configured to calculate, according to the location information of each of the mobile devices, a first total distance cost required for the multiple mobile devices to move to the respective matched resource stations according to the first matching relationship; A first determination module is used to determine a second matching relationship and a second total distance cost corresponding to the second matching relationship according to the location information of each of the mobile devices when it is detected that the current mobile environment meets a preset condition, wherein the second matching relationship is used to characterize the resource stations that the multiple mobile devices respectively match under the current mobile environment, and the preset condition characterizes the change amount condition of the mobile environment, wherein the second matching relationship is a matching relationship in which the sum of the distances of the various mobile devices to the respective matching resource stations is the smallest under the preset condition; a second determining module, configured to determine a target matching relationship according to the first distance total cost and the second distance total cost; and A scheduling module, configured to schedule the plurality of mobile devices to move to respective matched resource stations according to the target matching relationship, so that the plurality of mobile devices can perform tasks; Wherein, the second determination module includes: a fourth determining unit, configured to determine that the second matching relationship is a target matching relationship when a ratio of the second distance total cost to the first distance total cost is less than a first threshold; and / or The fifth determining unit is configured to determine that the first matching relationship is a target matching relationship when a ratio of the second distance total cost to the first distance total cost is greater than or equal to a first threshold.

9. A computer system, include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the method according to any one of claims 1 to 7.

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