Mobile body control system

Abstract

The application discloses a mobile body control system, comprising: a receiving module, used for receiving task information of a task to be executed by a mobile body and mobile body information, wherein the task information comprises a task site, and the mobile body information comprises a mobile body position; a storage module, used for storing building data of a building where the mobile body executes the task, wherein the building data comprises a passageway between different task sites in the building and information indicating a specific area in the passageway, the specific area comprises a first specific area and / or a second specific area, the first specific area refers to an area in the passageway where only one mobile body can be accommodated at the same time, and the second specific area refers to an area in the passageway with a width less than the sum of a passing width of two mobile bodies and a certain avoiding allowance; a processing module, used for formulating a scheme to be followed by the mobile body when executing the task according to the task information, the mobile body information and the building data, wherein the scheme ensures that a preset condition does not hold during the mobile body executes the task, and the preset condition refers to a condition that the mobile body is blocked in the specific area; a generating module, used for generating a control instruction for controlling the mobile body to execute the task according to the scheme; and a control module, used for controlling the mobile body according to the control instruction, so that the mobile body executes the task assigned to the mobile body. The application can effectively avoid the phenomenon that the mobile body is blocked in the specific area.

Description

TECHNICAL FIELD

[0001] The present application relates to a control system, in particular, a mobile body control system. BACKGROUND

[0002] When a mobile body moves in a building, if a certain specific area is very narrow, only a single mobile body can pass through, but two mobile bodies cannot pass through the specific area in opposite directions. In order to avoid the situation that two mobile bodies are blocked in the specific area because they move in opposite directions at the same time, the only way is to control one mobile body to exit the specific area, and after the other mobile body passes through the specific area, the mobile body can enter and pass through the specific area. As Comparative Document 1 (JP2015 / 002810) proposes: in the control method of an autonomous mobile body, when entering a passage, a first sensor with a first measurement plane parallel to the surface of the passage measures the passage. Then, based on the information from the first sensor, it is determined whether the passage can be passed through. Then, in the case of determining that the passage can be passed through, the second measurement plane of a second sensor with a second measurement plane inclined with respect to the first measurement plane is scanned in the left and right directions of the autonomous mobile body, and whether the passage can be passed through is determined again according to the information from the second sensor. The result of the re-determination is that, in the case of determining that the passage cannot be passed through, the autonomous mobile body is moved to a standby position outside the passage, and in the case of determining that the passage can be passed through, the autonomous mobile body is made to enter the passage. Obviously, when the situation that two mobile bodies are blocked in the specific area because they move in opposite directions occurs, the efficiency is very low by using the way of one mobile body exiting to avoid.

[0003] To solve this problem, the control system proposed in document 2 (JP2021 / 037683) can inhibit congestion in the middle of the passage. Specifically, the control system (3) has a communication unit (9), a detection unit (10), and an instruction unit (12). The communication unit (9) acquires mobile body information for each mobile body (2) moving in the facility. The detection unit (10) detects the approach of a mobile body (2a) to a passage (r1) that is the first intermediate area from a room (R1) to a room (R2) based on map information and the mobile body information related to the mobile body (2a). At this time, the instruction unit (12) causes the mobile body (2a) to wait to enter the passage (r1) in a case where it is determined that the width of any intermediate area is smaller than a value obtained by adding a margin (a) to the sum of the widths of the mobile body (2a) and a mobile body (2b) following a path that passes through at least any one of the intermediate areas. The instruction unit (12) makes this determination based on the map information and the mobile body information related to the mobile bodies (2a) and (2b). Document 2 essentially determines that two mobile bodies will be congested when passing through a specific area (i.e., the path width is smaller than the sum of the widths of the two mobile bodies plus the margin (a)) and controls one mobile body to wait to enter the specific area. Compared with document 1, the disadvantage of the mobile body exiting the specific area is avoided, but the waiting of the mobile body in the specific area reduces the moving efficiency of the mobile body. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a control system that can avoid congestion of mobile bodies in a specific area.

[0005] To solve the above technical problem, the present application provides a mobile body control system, comprising: a receiving module configured to receive task information of a task to be executed by a mobile body and mobile body information, the task information comprising a task location, and the mobile body information comprising a mobile body position; a storage module configured to store building data of a building in which the mobile body executes the task, the building data comprising information of a passage between different task locations in the building and information representing a specific area in the passage, the specific area comprising a first specific area and / or a second specific area, the first specific area being an area in which the space in the passage can only accommodate one mobile body at the same time, and the second specific area being an area in which the width is smaller than the sum of the passing width of two mobile bodies and a certain avoidance margin; a processing module configured to formulate a scheme to be followed by the mobile body when executing the task according to the task information, the mobile body information, and the building data, the scheme ensuring that a preset condition does not hold during the execution of the task by the mobile body, the preset condition being a condition in which the mobile body is congested in the specific area; a generation module configured to generate a control instruction for controlling the mobile body to execute the task assigned to the mobile body according to the scheme; and a control module configured to control the mobile body according to the control instruction.

[0006] Preferably, when the specific region is the first specific region, the preset condition is that at least two mobile bodies pass through the same specific region at the same time; and when the specific region is the second specific region, the preset condition is that at least two mobile bodies need to pass through the specific region in opposite directions.

[0007] Preferably, the scheme includes at least a corresponding relationship between the mobile body and the assigned task assigned to the mobile body, a moving path of the same mobile body when the mobile body performs tasks at different task locations, and a passing period of the mobile body when passing through the specific region while performing the task.

[0008] Preferably, the processing module makes the preset condition not to be established by formulating a scheme that makes at least one condition in the first condition group or the second condition group not to be established, thereby avoiding the mobile body being blocked in the specific region, wherein the first condition group includes:

[0009] Condition 11: the passing path of the mobile body contains the same first specific region;

[0010] Condition 12: the passing time period of the mobile body passing through the same first specific region overlaps;

[0011] The second condition group includes:

[0012] Condition 21: the passing path of the mobile body contains the same second specific region;

[0013] Condition 22: the passing time period of the mobile body passing through the same second specific region overlaps;

[0014] Condition 23: the passing direction of the mobile body in the second specific region is opposite.

[0015] Preferably, the processing module formulates the scheme by using at least one of the following means, so that at least one condition in the first condition group or the second condition group is not established:

[0016] Means 1: appropriately assigning or changing the assigned task of each mobile body;

[0017] Means 2: appropriately setting or changing the order of the mobile body performing each assigned task;

[0018] Means 3: appropriately setting or changing the moving path of the mobile body when going to the task location of the next assigned task after completing the current assigned task.

[0019] Preferably, when the processing module monitors that the preset condition is established, the processing module makes the preset condition not to be established by using at least one of the means 1 to 3, and formulates the scheme again; the generating module generates and updates the control instruction again based on the new scheme; and the control module controls the mobile body according to the updated control instruction.

[0020] Preferably, the mobile body processing module also needs to make the constraint condition true when formulating the scheme, and the constraint condition includes:

[0021] Constraint 1: the maximum number of assigned tasks for each mobile body at the same time does not exceed the number of accommodated items.

[0022] Preferably, the constraint condition further includes:

[0023] Constraint 2: the arrival time of the mobile body at the task location of the assigned task is not later than the specified arrival time of the mobile body.

[0024] Preferably, the processing module formulates the scheme according to the following steps:

[0025] Step 1: obtain task information, mobile body information, and building data;

[0026] Step 2: determine the constraint condition according to the task information and the mobile body information;

[0027] Step 3: enumerate all possible first combinations, which represent the correspondence between the mobile body and the assigned task;

[0028] Step 4: for each first combination, enumerate all possible execution sequences when the mobile body executes the assigned task;

[0029] Step 5: for each execution sequence of each first combination, plan the moving path of the mobile body when moving between different task locations according to the building data;

[0030] Step 6: take each possible combination of the first combination, the execution sequence, and the moving path as a second combination, and add it to the second combination list;

[0031] Step 7: determine whether there is a second combination containing a specific area in the second combination list, if not, go to Step 9, otherwise go to the next step;

[0032] Step 8: determine whether the preset condition corresponding to the second combination containing the specific area is true, if true, delete the second combination containing the specific area from the second combination list, otherwise go to the next step;

[0033] Step 9: select one second combination from the second combination list as the scheme and output.

[0034] Preferably, the processing module formulates the scheme by adopting specific measures to make condition 11 or condition 21 not true when specifying the scheme, and the specific measures include the following steps:

[0035] Step A, determining the location of the specific area on the map according to the building information;

[0036] Step B, determining whether at least one path is contained between two adjacent specific areas;

[0037] Step C, for two adjacent specific areas containing at least one path between them, the two specific areas are respectively classified into two different sub-domains; for two adjacent specific areas not containing any path between them, the two adjacent specific areas are merged as one sub-domain;

[0038] Step D, for tasks whose task locations are in the same sub-domain, they are assigned to the same mobile body to execute; for tasks whose task locations are in different sub-domains, they are assigned to different mobile bodies to execute.

[0039] Preferably, the processing module formulates the scheme according to the following steps for the accumulated un-responded tasks and the mobile bodies currently in idle state:

[0040] Step 1, obtaining the task information of the accumulated un-responded tasks, the mobile body information and the building information;

[0041] Step 2, determining the constraint conditions according to the task information and the mobile body information;

[0042] Step 3, enumerating all possible first combinations, the first combination representing the correspondence between the mobile body and the assigned task;

[0043] Step 4, for each first combination, enumerating all possible execution sequences when the mobile body executes the assigned task;

[0044] Step 5, for each execution sequence of each first combination, planning the moving path of the mobile body when moving between different task locations according to the building information;

[0045] Step 6, taking each possible combination of the first combination, the execution sequence and the moving path as a second combination, and adding it to the second combination list;

[0046] Step 7, judging whether there is at least one un-selected second combination in the second combination list, if not, turning to Step 9, otherwise selecting an un-selected second combination from the second combination list as the selected combination;

[0047] Step 8, judging whether the moving path of the mobile body currently in idle state in the selected combination contains the specific area and makes the preset condition true, if yes, deleting the selected combination from the second combination list and returning to Step 7, otherwise returning to Step 7;

[0048] Step 9, selecting a second combination from the second combination list as the scheme;

[0049] Step 10, distributing the accumulated unresponded tasks to the mobile bodies currently in idle state according to the scheme, and ending.

[0050] Preferably, the processing module formulates the scheme according to the following steps for the accumulated unresponded tasks and the mobile bodies currently in idle state:

[0051] Step 1, obtaining the task information of the accumulated unresponded tasks, the mobile body information and the building data;

[0052] Step 2, determining the constraint conditions according to the task information and the mobile body information;

[0053] Step 3, determining a first combination, the first combination representing the corresponding relationship between the mobile bodies and the assigned tasks;

[0054] Step 4, determining an execution sequence of the mobile bodies executing the assigned tasks for the first combination;

[0055] Step 5, planning a moving path of the mobile bodies moving between different task locations when executing the assigned tasks by using the building data for the execution sequence of the first combination;

[0056] Step 6, combining the first combination, the execution sequence and the moving path as a second combination;

[0057] Step 7, judging whether the moving path in the second combination contains a specific area that makes the preset condition true, if not, taking the current scheme as the final scheme and ending, otherwise changing the scheme of the mobile bodies currently in idle state and / or the scheme of the mobile bodies that have responded but not completed the tasks until the scheme makes the preset condition not true.

[0058] Preferably, the step 7 changes the scheme in the following way:

[0059] The processing module makes the preset condition not true by formulating a scheme that makes at least one condition in the first condition group or the second condition group not true, thereby avoiding the mobile bodies being blocked in the specific area, the first condition group including:

[0060] Condition 11, the moving path of the mobile bodies containing the same first specific area;

[0061] Condition 12, the passing time of the mobile bodies passing through the same first specific area overlapping;

[0062] The second condition group including:

[0063] Condition 21, the same second specific area is contained in the passing path of the mobile body;

[0064] Condition 22, the passing time period of the mobile body through the same second specific area overlaps;

[0065] Condition 23, the passing direction of the mobile body in the second specific area is opposite.

[0066] Preferably, for the accumulated unresponded tasks, when the task contents of the individual tasks are the same and only the task locations are different, the processing module formulates the scheme according to the following steps:

[0067] Step 1, obtaining the task information of the to-be-completed tasks, the mobile body information and the building data, the to-be-completed tasks including the tasks that have been responded and not completed and the accumulated unresponded tasks, the mobile bodies including the mobile bodies currently in idle state and the mobile bodies currently in task execution, the mobile body information at least including the mobile body position information of the mobile bodies currently in task execution;

[0068] Step 2, determining the constraint conditions according to the task information and the mobile body information;

[0069] Step 3, enumerating all possible first combinations, and the first combination representing the corresponding relationship between the mobile body and the assigned task;

[0070] Step 4, for each first combination, enumerating all possible execution sequences when the mobile body executes the assigned task;

[0071] Step 5, for each execution sequence of each first combination, planning the moving path of the mobile body when moving between different task locations when executing the assigned task according to the building data and the mobile body position information;

[0072] Step 6, taking each possible combination of the first combination, the execution sequence and the moving path as a second combination, and adding it to the second combination list;

[0073] Step 7, judging whether there is a second combination containing a specific area in the second combination list, if not, turning to Step 9, otherwise, going to the next step;

[0074] Step 8, judging whether the preset condition corresponding to the second combination containing the specific area is established, if yes, deleting the second combination containing the specific area from the second combination list, otherwise, directly going to the next step;

[0075] Step 9, selecting one second combination from the second combination list as the scheme and outputting;

[0076] Step 10, all the tasks to be completed are assigned to all the mobile bodies including the mobile bodies currently in idle state and the mobile bodies currently in task execution according to the scheme.

[0077] Preferably, the step 9 selects the scheme from the second combination in which the preset condition is established according to the principle of minimum distribution cost of the mobile bodies or the highest distribution efficiency of the mobile bodies.

[0078] Preferably, when the specific area is the first specific area, the processing device determines whether the preset condition is established according to the passing time period when the mobile body passes through the specific area and the moving direction when the mobile body passes through the specific area.

[0079] When the specific area is the second specific area, the processing device determines whether the preset condition is established according to the passing time period when the mobile body passes through the specific area.

[0080] Preferably, the determination of the preset condition includes the following two parts:

[0081] Part 1, whether the preset condition is established between the mobile bodies that execute the accumulated unresponded distribution request tasks;

[0082] Part 2, whether the preset condition is established between the mobile bodies that execute the accumulated unresponded distribution request tasks and the mobile bodies currently in task execution.

[0083] Preferably, before the step 1, it further includes:

[0084] Step A, determining whether the accumulation condition is established, if yes, entering the next step, otherwise returning to step A, the accumulation condition is that only when the accumulation condition is established, the mobile body control system controls the mobile body to execute the assigned task.

[0085] Preferably, the accumulation condition refers to any one of the following conditions:

[0086] Accumulation condition 1, the accumulated unresponded requests reach a preset number;

[0087] Accumulation condition 2, the time interval from the earliest received time in all the unresponded requests to the current time exceeds a time threshold;

[0088] Accumulation condition 3, when the request specifies a latest delivery time, the current time reaches a specific time, and the specific time refers to the time corresponding to the preset time in advance on the basis of the latest delivery time.

[0089] The application analyzes and determines the necessary conditions for the two mobile bodies to be blocked, and makes at least one of the necessary conditions not to be established by properly setting the tasks of the mobile bodies and / or the sequence and path of the mobile bodies when performing the tasks. Since the necessary conditions for the two mobile bodies to be blocked are not established, it is obvious that the phenomenon of the mobile bodies being blocked in a certain area can be avoided. DETAILED DESCRIPTION

[0090] The advantages and technical effects of the application can be fully understood by the skilled in the art from the description. The application can be implemented or applied in different embodiments, and the details in the description can be applied based on different viewpoints, and various modifications or changes can be made without departing from the general design idea of the application. It should be noted that the embodiments and features in the embodiments can be combined with each other without conflict. The exemplary embodiments of the application can be implemented in various forms, and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that the embodiments are provided to make the disclosure of the application complete and complete, and to fully convey the technical solutions of the exemplary embodiments to the skilled in the art.

[0091] Embodiment 1

[0092] The application provides a mobile body control system, comprising: a receiving module configured to receive task information of a task to be performed by a mobile body and mobile body information, the task information comprising a task location, and the mobile body information comprising a mobile body position; a storage module configured to store building data of a building in which the mobile body performs the task, the building data comprising a passageway between different task locations in the building and information indicating a specific area in the passageway, the specific area comprising a first specific area and / or a second specific area, the first specific area being an area in which only one mobile body can be accommodated in the passageway at the same time, and the second specific area being an area in which the width is less than the sum of the passing width of two mobile bodies and a certain avoidance allowance; a processing module configured to formulate a scheme to be followed by the mobile body when performing the task according to the task information, the mobile body information and the building data, the scheme ensuring that a preset condition is not established during the mobile body performing the task, the preset condition being a condition in which the mobile body is blocked in the specific area; a generating module configured to generate a control instruction for controlling the mobile body to perform the task assigned to the mobile body according to the scheme; and a control module configured to control the mobile body according to the control instruction.

[0093] Preferably, when the specific area is the first specific area, the preset condition is that at least two mobile bodies pass through the same specific area at the same time; and when the specific area is the second specific area, the preset condition is that at least two mobile bodies need to pass through the specific area in opposite directions.

[0094] Preferably, the scheme at least includes the correspondence between the mobile bodies and the assigned tasks assigned to the mobile bodies, the moving paths of the same mobile body when executing tasks at different locations, and the passing time periods of the mobile bodies when passing through the specific region while executing tasks.

[0095] Through analysis, it is found that when the mobile bodies are blocked in the second specific region (i.e., a region with a width less than the sum of the passing width and the margin of two mobile bodies) due to the narrow width and the inability of the two mobile bodies to pass each other, the following conditions must be met simultaneously:

[0096] Condition 1: the passing paths of the mobile bodies contain the same specific region;

[0097] Condition 2: there is overlap in the passing time periods of the mobile bodies passing through the same specific region;

[0098] Condition 3: the passing directions of the mobile bodies in the specific region are the same, i.e., they pass through the specific region in opposite directions.

[0099] Obviously, in order to ensure that the mobile bodies are blocked in the specific region due to passing each other, as long as at least one of the above three conditions is not met, this can be achieved by: means 1, appropriately assigning or changing the tasks that each mobile body needs to execute; means 2, appropriately setting or changing the order in which the mobile bodies execute each assigned task; and means 3, appropriately setting or changing the moving path of the mobile body after completing the current task to reach the next task location (i.e., without changing the two end points of the moving path, i.e., changing the line connecting the two end points, which are determined by the task locations of the assigned tasks).

[0100] Therefore, the processing module in the present application formulates a scheme that makes at least one condition in the first condition group or the second condition group not true, so that the preset conditions are not true, thereby avoiding the mobile bodies being blocked in the specific region, the first condition group including:

[0101] Condition 11: the passing paths of the mobile bodies contain the same first specific region;

[0102] Condition 12: there is overlap in the passing time periods of the mobile bodies passing through the same first specific region;

[0103] The second condition group includes:

[0104] Condition 21: the passing paths of the mobile bodies contain the same second specific region;

[0105] Condition 22: there is overlap in the passing time periods of the mobile bodies passing through the same second specific region;

[0106] Condition 23: the passing directions of the mobile bodies in the second specific region are opposite.

[0107] Preferably, the processing module formulates the scheme by employing at least one of the following means so that at least one condition in the first condition set or the second condition set does not hold:

[0108] Means 1, appropriately assigning or changing the assigned tasks for each mobile body;

[0109] Means 2, appropriately setting or changing the order in which the mobile body executes each assigned task;

[0110] Means 3, appropriately setting or changing the moving path of the mobile body when it rushes to the task site of the next assigned task after completing the current assigned task.

[0111] When the processing module monitors that the preset condition holds, it makes the preset condition not hold by employing at least one of the means 1 to 3, and formulates the scheme again; the generating module regenerates and updates the control instructions based on the new scheme; and the control module controls the mobile body according to the updated control instructions.

[0112] Preferably, the control device further controls the mobile body to monitor the suspected specific area in real time by using its monitoring device or a monitoring device fixedly arranged at a certain position in the moving path, and after monitoring the suspected specific area, it checks according to the position information and parameter information of the suspected specific area, and adds it to the building data after the check passes. The parameter information refers to the spatial capacity of the first specific area and the width of the second specific area.

[0113] From the above description, it can be seen that the present application is essentially to avoid the possibility of two mobile bodies moving towards each other in the same specific area, which is completely different from the idea of avoiding congestion by retreating or waiting when congestion has occurred or will occur in documents 1 and 2.

[0114] For a mobile body (such as a cleaning mobile body), each cleaning task corresponds to a cleaning site, and a certain cleaning (duration) time is required to complete the cleaning of each cleaning site (for other tasks such as delivery, for the task of delivering milk to the guests of two adjacent hotel rooms, these two tasks can be combined as one task to be processed). Thus, for two cleaning mobile bodies, when scheme 1 is adopted, cleaning mobile body A is assigned cleaning tasks T1, T2 and T3, and the corresponding cleaning times are t1, t2 and t3, and the cleaning sites are D1, D2 and D3, respectively; and cleaning mobile body B is assigned cleaning tasks Ta, Tb and Tc, and the corresponding cleaning times are ta, tb and tc, respectively, and the cleaning sites are Da, Db and Dc, respectively.

[0115] When the mobile body is assigned a cleaning task or the cleaning task of the mobile body is changed by different schemes, the cleaning task to be completed by the mobile body changes, including the change of the number of tasks and / or the change of the content of the tasks, which will inevitably cause the change of the cleaning locations, and the change of the cleaning locations will inevitably cause the change of the moving path of the mobile body when moving from one cleaning location to the next cleaning location, so that the moving path of the mobile body does not contain a specific area or contains a new specific area different from the original specific area. In addition, even if the cleaning task is given, means 2 and / or means 3 can be used to change the moving path of the mobile body when moving from one cleaning location to the next cleaning location, so that the moving path of the mobile body does not contain a specific area or contains a new specific area different from the original specific area. Therefore, one or more of means 1, means 2 and means 3 can be used to make condition 1 not true.

[0116] As explained in the previous paragraph, one or more of means 1, means 2 and means 3 can be used to change the moving path of the mobile body so that the moving path does not contain a specific area or contains a different specific area. In addition to this, the change of the moving path can also mean the change of the moving time of the mobile body spent on the moving path, which means that one or more of means 1, means 2 and means 3 can be used to change the moving path, and then change the moving time of the mobile body spent on the moving path, and finally achieve the change of the arrival time of the mobile body to the specific area. On the other hand, the change of the cleaning task by means 1 means the change of the cleaning time of the mobile body spent on performing the cleaning task, which means that means 1 can be used to change the cleaning task, and then change the cleaning time of the mobile body spent on performing the cleaning task, and finally achieve the change of the arrival time of the mobile body to the specific area. Therefore, one or more of means 1, means 2 and means 3 can be used to make condition 2 not true.

[0117] When the mobile body is assigned a cleaning task or the cleaning task of the mobile body is changed by different schemes, the cleaning task to be completed by the mobile body changes, including the change of the number of tasks and / or the change of the content of the tasks, which will inevitably cause the change of the cleaning locations, and the change of the cleaning locations will inevitably cause the change of the moving path of the mobile body when moving from one cleaning location to the next cleaning location, so that the moving path of the mobile body does not contain a specific area or contains a new specific area different from the original specific area. In addition, even if the cleaning task is given, means 2 and / or means 3 can be used to change the moving path of the mobile body when moving from one cleaning location to the next cleaning location, so that the moving path of the mobile body does not contain a specific area or contains a new specific area different from the original specific area. Therefore, one or more of means 1, means 2 and means 3 can be used to make condition 1 not true.

[0118] Embodiment 2

[0119] This embodiment considers a scenario where the control system receives a number of delivery tasks to be performed by the mobile bodies. In this application, the task is to deliver milk to hotel guests. Currently, a plurality of mobile bodies are located in the hotel lobby in an operation area where the service personnel loads the milk to be delivered into the mobile body's cabinet. The task of the control system is now how to allocate these milk delivery tasks to the mobile bodies.

[0120] First, consider the constraints that the control system needs to consider when allocating tasks,

[0121] Constraint 1, the maximum number of items to be delivered by each mobile body at the same time does not exceed the number of items that can be accommodated.

[0122] Constraint 2, the delivery time of the mobile body arriving at the task location of the allocated task is not later than the specified delivery time of the mobile body.

[0123] In this application, the constraints that the control system needs to consider when allocating milk delivery tasks to mobile bodies:

[0124] Constraint 1, the number of milk that each mobile body can accommodate at the same time;

[0125] Constraint 2, the requirement of the hotel guests for the delivery time (optional).

[0126] Under the above constraints, the control system controls the mobile bodies to be able to complete the given milk delivery task. But this is only the most basic, and on this basis, further optimization of task allocation is needed to achieve one or more of the following optimization goals:

[0127] Optimization goal 1, the cost of milk delivery is minimized (such as the number of mobile bodies performing milk delivery, the total distance and / or delivery time of the mobile bodies completing milk delivery - including the time from starting delivery to completing delivery and the delivery time of each mobile body, etc.);

[0128] Optimization goal 2, the delivery efficiency of the mobile body is the highest, where the delivery efficiency is defined as the quotient of the number of delivery tasks divided by the number of mobile bodies and the time from starting delivery to completing delivery.

[0129] The above optimization goals can also be achieved by using the aforementioned means 1 and means 2. The special concern of this application is considered below, i.e. when the mobile body performs the milk delivery task, the movement path may contain a specific area (i.e. only the area that cannot accommodate the mobile body to move in opposite directions). How to avoid the mobile body appearing in the specific area during the milk delivery process. Here we call it:

[0130] Constraint 3, the mobile bodies cannot pass each other in opposite directions in a certain area.

[0131] The certain area here can be a corridor, a passageway, a certain door, etc. in the hotel in the general sense, which can only accommodate one mobile body at a time due to its narrowness and cannot allow two mobile bodies to pass each other in opposite directions. It can also be an elevator car that can only accommodate one mobile body at a time (in this case, the opposite direction restriction in the previous discussion needs to be removed, and different elevators are considered as different mobile paths, i.e. two mobile bodies cannot enter the same elevator car at the same time). Passing each other in opposite directions means that the two mobile bodies move in opposite directions, first approach each other, then pass each other, and then continue to move forward, so the distance between them gradually increases.

[0132] For problems that contain both constraints and optimization objectives, the method of first constraint and then optimization can be used, that is, first try to meet the constraints, and then select the optimal solution among the feasible solutions that meet the constraints according to the optimization objective.

[0133] For constraint 1, as long as the task assigned to each mobile body does not exceed the maximum value of the milk fraction it can accommodate.

[0134] For constraint 2 and constraint 3, the processing module formulates the scheme according to the following steps:

[0135] Step 1, obtain task information, mobile body information and building data;

[0136] Step 2, determine the constraint conditions according to the task information and mobile body information;

[0137] Step 3, enumerate all possible first combinations, which represent the correspondence between mobile bodies and assigned tasks;

[0138] Step 4, for each first combination, enumerate all possible execution sequences of the mobile body executing the assigned task;

[0139] Step 5, for each execution sequence of each first combination, plan the mobile path of the mobile body moving between different task locations when executing the assigned task using the building data;

[0140] Step 6, take each possible combination of first combination, execution sequence and mobile path as a second combination, and add it to the second combination list;

[0141] Step 7, determine whether there is a second combination containing a certain area in the second combination list, if not, go to step 9, otherwise go to the next step;

[0142] Step 8, determine whether the preset condition corresponding to the second combination containing the specific region is established, if yes, delete the second combination containing the specific region from the second combination list, otherwise, directly enter the next step;

[0143] Step 9, select one second combination from the second combination list as the scheme and output.

[0144] All the second combinations in the first set are feasible solutions that satisfy the three constraints simultaneously.

[0145] If further optimization is to be performed, the first set is taken as the optional object to be optimized, i.e. the second combination with the minimum cost of milk distribution and / or the highest distribution efficiency of the mobile body is determined from the first set as the final distribution scheme, including the mobile body, the task, the distribution order and the mobile path.

[0146] Embodiment 3

[0147] In Embodiment 2, the enumeration of the first combination and the subsequent constraint 3 are considered completely separately, i.e. the constraint 3 is not considered when the first combination is enumerated, resulting in a very large number of first combinations and second combinations. This embodiment attempts to reduce the number of first combinations and second combinations.

[0148] The main idea is that the processing module adopts specific measures when specifying the scheme, so that the condition 11 or the condition 21 is not established, and the specific measures include the following steps:

[0149] Step A, determine the positions of the specific regions on the map according to the building data;

[0150] Step B, determine whether at least one path is contained between two adjacent specific regions;

[0151] Step C, for two adjacent specific regions containing at least one path therebetween, divide the two specific regions into two different sub-domains respectively; for two adjacent specific regions not containing a path therebetween, combine the two adjacent specific regions as one sub-domain;

[0152] Step D, for tasks with task locations in the same sub-domain, assign them to the same mobile body for execution; for tasks with task locations in different sub-domains, assign them to different mobile bodies for execution.

[0153] It is not difficult to understand that the assignment result obtained in Step D will satisfy the constraint 3 regardless of the execution order and the mobile path therebetween. Thus, the result obtained in Step D can be taken as the object to be optimized.

[0154] Although the adoption of both measures in step D (i.e. different handling for two different cases) can ensure that constraint 3 is met, on the one hand, at least one of the two measures cannot be adopted in some cases, such as:

[0155] Case 1: the prerequisite for not specifically adopting these measures on site, such as the structural layout of the building does not allow it, the number of mobile bodies is limited, etc.

[0156] Case 2: after adopting these measures, the performance of the final optimized optimal result is far worse than that of the optimal result obtained directly by adopting the steps in Embodiment 2.

[0157] For Case 1, one measure can be adopted respectively, and then the number of allocation results obtained by adopting one measure is compared, and then the object to be optimized is determined according to the number of allocation results, such as: if the number of allocation results corresponding to the former measure is much larger than that of the latter measure, the allocation result corresponding to the former measure can be tried as the first combination, and then step 4 and the subsequent steps in Embodiment 2 are adopted; when the number of allocation results obtained by adopting one measure is still too small, these measures are abandoned, and the implementation according to Embodiment 2 is performed honestly.

[0158] For Case 2, a minimum number of allocation results is set in advance, and when the number of allocation results obtained by simultaneously adopting two measures is less than the minimum number of allocation results, it is handled according to Case 1; or a minimum optimization performance index is set in advance, and when the optimization result of the allocation result obtained by simultaneously adopting two measures is lower than the minimum optimization performance index, the number of measures adopted is reduced (until no measures are adopted at all, preferably one measure is tried at a time), the allocation result and the optimization result are obtained, and the index of the optimization result is not lower than the minimum optimization performance index.

[0159] The above handling method is essentially to use the building data as a priori knowledge to reduce the number of enumeration results in Embodiment 2.

[0160] Embodiment 4

[0161] In the scenarios of Embodiment 2 and Embodiment 3, all mobile bodies used to perform the milk delivery task are located in the milk distribution operation area of the hotel (i.e. the place where the service personnel uniformly load milk into the mobile body cabinet) before the control system allocates the task, which is a very special case.

[0162] In engineering practice, more scenarios are that, part of the mobile bodies are in the process of delivering milk to hotel guests, i.e. on the way to the front hotel rooms, part of the mobile bodies return to the operation area after completing the last milk delivery task, and the control system successively receives milk delivery requests from passengers and allocates tasks to the mobile bodies waiting in the operation area. The biggest difference between this case and the cases in Embodiment 2 and Embodiment 3 is that, when the control system allocates tasks to the mobile bodies in the operation area, part of the mobile bodies are in the task execution. This makes the control system, when allocating tasks to the mobile bodies in the operation area due to receiving new milk delivery requests, not only consider whether the first mobile body to be executed the new task meets constraints 1, 2 and 3, but also consider whether constraint 3 is met between the first mobile body and the second mobile body currently in the milk delivery task execution.

[0163] Constraints 1 and 2 in this scenario and the processing method to ensure that constraint 3 is met between the first mobile body and the second mobile body are the same as in Embodiment 2 and Embodiment 3, and do not need to be repeated. The following describes how to ensure that constraint 3 is met between the first mobile body and the second mobile body.

[0164] In general, considering the delivery efficiency, the control system will not allocate a request to a mobile body and control the mobile body to deliver milk immediately after receiving the request each time, but will allocate the milk delivery task and control the mobile body to execute the delivery task after accumulating a certain number of unresponded requests, or when the time interval from the earliest received time in all unresponded requests to the current time exceeds a time threshold, or when the request specifies a latest delivery time, the control system will start allocating the milk delivery task and controlling the mobile body to execute the delivery task at a time corresponding to the latest delivery time plus a certain amount of time (e.g. considering the travel time of the mobile body to reach the location of the guest who made the milk delivery request and a time margin). The result of such processing is that, when actually implementing task allocation, multiple requests will often be accumulated, and different requests will usually correspond to different task locations (i.e. the hotel rooms where the milk recipients are located), so that the control system can overall optimize the task allocation result by managing multiple requests.

[0165] The control system has the following two ways to allocate milk delivery request tasks from hotel guests:

[0166] Method 1: Do not consider the reallocation of accumulated unresponded milk delivery request tasks and milk delivery request tasks that have been responded to by the mobile body but have not been completed (i.e. have not been delivered to the room) among the mobile bodies, i.e. keep the corresponding relationship between the milk delivery request tasks that have been responded to but have not been completed and the mobile bodies currently in the milk delivery task unchanged. In this way, for the accumulated unresponded milk delivery request tasks and the mobile bodies in the idle state, the processing module formulates the scheme according to the following steps:

[0167] Step 1, obtaining accumulated task information, mobile body information and building data of unresponded tasks;

[0168] Step 2, determining constraint conditions according to the task information and the mobile body information;

[0169] Step 3, enumerating all possible first combinations, the first combination representing the correspondence between the mobile body and the assigned task;

[0170] Step 4, for each first combination, enumerating all possible execution sequences when the mobile body executes the assigned task;

[0171] Step 5, for each execution sequence of each first combination, planning the moving path of the mobile body when moving between different task locations according to the building data when the mobile body executes the assigned task;

[0172] Step 6, taking each possible combination of the first combination, the execution sequence and the moving path as a second combination, and adding it to the second combination list;

[0173] Step 7, judging whether there is at least one unselected second combination in the second combination list, if not, turning to Step 9, otherwise selecting an unselected second combination from the second combination list as the selected combination;

[0174] Step 8, judging whether the moving path of the mobile body currently in idle state in the selected combination contains the specific area and makes the preset condition true, if yes, deleting the selected combination from the second combination list, returning to Step 7, otherwise returning to Step 7;

[0175] Step 9, selecting a second combination from the second combination list as the scheme;

[0176] Step 10, assigning the accumulated unresponded tasks to the mobile body currently in idle state according to the scheme, and ending.

[0177] If the moving path of the mobile body currently in idle state does not contain the specific area, the assignment is directly executed after completion (possibly multiple, optionally one of them as the execution assignment result or the optimized assignment result obtained after optimization as the execution assignment result);

[0178] If the moving path of the mobile currently in idle state does not contain the specific area, determine whether the mobile currently in idle state and the mobile currently in milk delivery task satisfy constraint 3 (specifically including, determine the passing time period and moving direction of the mobile currently in idle state passing the specific area (not required for the aforementioned elevator), determine the passing time period and moving direction of the mobile currently in milk delivery task passing the specific area, and determine whether the mobile currently in idle state and the mobile currently in milk delivery task passing the specific area are not staggered in opposite directions, i.e., the moving directions are opposite and the passing time periods overlap). That is, for the accumulated unresponded tasks and the mobile currently in idle state, the processing module formulates the scheme according to the following steps:

[0179] Step 1, obtain the task information of the accumulated unresponded tasks, the mobile information and the building data;

[0180] Step 2, determine the constraint conditions according to the task information and the mobile information;

[0181] Step 3, determine a first combination, the first combination representing the corresponding relationship between the mobile and the assigned tasks;

[0182] Step 4, for the first combination, determine an execution sequence of the mobile executing the assigned tasks;

[0183] Step 5, for the execution sequence of the first combination, plan a moving path of the mobile moving between different task locations when executing the assigned tasks by using the building data;

[0184] Step 6, combine the first combination, the execution sequence and the moving path as a second combination;

[0185] Step 7, determine whether the moving path in the second combination contains a specific area that makes the preset condition true, if not, take the current scheme as the final scheme and end, otherwise change the scheme of the mobile currently in idle state and / or the scheme of the mobile that has responded but has not completed the task until the scheme makes the preset condition not true. When constraint 3 is not satisfied, step 7 changes the scheme in the following way:

[0186] The processing module makes the preset condition not true by formulating a scheme that makes at least one condition in the first condition group or the second condition group not true, thereby avoiding the mobile being blocked in the specific area, the first condition group including:

[0187] Condition 11, the passing path of the mobile contains the same first specific area;

[0188] Condition 12, the passing time period of the mobile body through the same first specific area overlaps;

[0189] The second condition group includes:

[0190] Condition 21, the passing path of the mobile body contains the same second specific area;

[0191] Condition 22, the passing time period of the mobile body through the same second specific area overlaps;

[0192] Condition 23, the passing direction of the mobile body in the second specific area is opposite.

[0193] Mode 2, for the mobile body delivery task such as milk delivery for hotel guests, since different delivery tasks are only different in delivery destination (different guest room positions) and the delivered object (milk here) is the same, the milk delivery request tasks that have been responded but not completed (i.e. not yet delivered to the guest room) and the accumulated milk delivery request tasks that have not been responded can be combined together for unified allocation to all mobile bodies including the mobile bodies currently in idle state and the mobile bodies currently performing delivery tasks, so that the task originally performed by the mobile body currently performing delivery task can be performed by the mobile body currently in idle state, while the accumulated milk delivery request tasks that have not been responded can be performed by the mobile body currently performing delivery task. Such processing, since it involves the current position of the mobile body currently performing delivery task, which will affect the delivery cost and delivery efficiency of the mobile body, therefore for the accumulated tasks that have not been responded, when the task content of each task is the same and only the task location is different, the processing module formulates the scheme according to the following steps:

[0194] Step 1, obtaining task information, mobile body information and building information of to-be-completed tasks, the to-be-completed tasks including tasks that have been responded but not completed and accumulated tasks that have not been responded, the mobile bodies including mobile bodies currently in idle state and mobile bodies currently in task execution, the mobile body information including at least mobile body position information of the mobile bodies currently in task execution;

[0195] Step 2, determining constraint conditions according to the task information and the mobile body information;

[0196] Step 3, enumerating all possible first combinations, and the first combination representing the corresponding relationship between the mobile body and the allocated task;

[0197] Step 4, for each first combination, enumerating all possible execution sequences when the mobile body executes the allocated task;

[0198] Step 5, for each execution sequence of each first combination, planning a moving path of the mobile body when it executes the assigned task and moves between different task locations according to the building information and the mobile body position information;

[0199] Step 6, taking each possible combination of the first combination, the execution sequence and the moving path as a second combination, and adding it to the second combination list;

[0200] Step 7, judging whether there is a second combination containing the specific area in the second combination list, if not, going to Step 9, otherwise going to the next step;

[0201] Step 8, judging whether the preset condition corresponding to the second combination containing the specific area is met, if met, deleting the second combination containing the specific area from the second combination list, otherwise going to the next step directly;

[0202] Step 9, selecting one second combination from the second combination list as the scheme and outputting it;

[0203] Step 10, assigning all the to-be-completed tasks to all the mobile bodies including the mobile bodies currently in idle state and the mobile bodies currently in task execution according to the scheme.

[0204] The judgment of the preset condition includes the following two parts:

[0205] Part 1, whether the preset condition is met between each mobile body executing the accumulated unresponded distribution request task;

[0206] Part 2, whether the preset condition is met between each mobile body executing the accumulated unresponded distribution request task and the mobile body currently in task execution.

[0207] Before the step 1, the following can also be included:

[0208] Step A, judging whether the accumulation condition is met, if met, going to the next step, otherwise returning to Step A, the accumulation condition is that only when it is met, the mobile body control system controls the mobile body to execute the assigned task.

[0209] The accumulation condition refers to any one of the following conditions:

[0210] Accumulation condition 1, the accumulated unresponded requests reach a preset number;

[0211] Accumulation condition 2, the time interval from the earliest received time among all the unresponded requests to the current time position exceeds a time threshold;

[0212] Cumulative condition 3, when the request specifies the latest delivery time, the current time reaches a specific time, which refers to the time corresponding to the preset amount of time in advance on the basis of the latest delivery time.

[0213] The present application substantially takes full advantage of the control system's full grasp of the mobile body information and the delivery task information, i.e. it can implement the acquisition of the mobile body's task completion status and current position, the to-be-completed task and the uncompleted moving path, and the accumulated new task information (such as the task location), and comprehensively consider and analyze the whole, so it can satisfy the constraint 3 from a higher level, i.e. from the task allocation, task execution sequence and moving path level, rather than avoiding congestion from the partial point (i.e. limited information at a specific area) processing as in the prior art.

[0214] The present application is described in detail above through specific embodiments and examples, but these do not constitute a limitation on the present application. Those skilled in the art can also make many modifications and improvements without departing from the principles of the present application, and these should also be considered as the protection scope of the present application.

Claims

1. A moving body control system characterized by comprising: The application comprises: a receiving module for receiving task information and mobile body information, the task information comprising a task location, and the mobile body information comprising a mobile body position; a storage module for storing building information of a building in which the mobile body executes the task, the building information comprising a passageway between different task locations in the building and information indicating a specific area in the passageway, the specific area comprising a first specific area and / or a second specific area, the first specific area being an area in which only one mobile body can be accommodated at the same time, and the second specific area being an area in which the width is less than the sum of the passing width of two mobile bodies and a certain avoidance allowance; a processing module for formulating a scheme for the mobile body to execute the task according to the task information, the mobile body information and the building information, the scheme ensuring that a preset condition does not occur during the execution of the task by the mobile body, the preset condition being a condition in which the mobile body is blocked in the specific area; a generating module for generating a control instruction for controlling the mobile body to execute the task assigned to the mobile body according to the scheme; a control module for controlling the mobile body to execute the task assigned to the mobile body according to the control instruction; when the specific area is the first specific area, the preset condition is that at least two mobile bodies pass through the same specific area at the same time; and when the specific area is the second specific area, the preset condition is that at least two mobile bodies need to pass through the specific area in opposite directions; the scheme comprises at least a corresponding relationship between the mobile body and the assigned task, a moving path of the same mobile body when executing different task locations, and a passing period of the mobile body when passing through the specific area during the execution of the task.

2. The moving body control system according to claim 1, characterized by The processing module formulates a scheme to ensure that the preset condition does not occur, thereby avoiding the blocking of the mobile body in the specific area, by formulating a scheme to ensure that at least one condition in a first condition group or a second condition group does not occur, the first condition group comprising: condition 11: the passing path of the mobile body contains the same first specific area; condition 12: the passing period of the mobile body through the same first specific area overlaps; the second condition group comprising: condition 21: the passing path of the mobile body contains the same second specific area; condition 22: the passing period of the mobile body through the same second specific area overlaps; condition 23: the passing direction of the mobile body in the second specific area is opposite.

3. The moving body control system according to claim 2, characterized by The processing module formulates a scheme to ensure that at least one condition in the first condition group or the second condition group does not occur by using at least one of the following means: means 1: appropriately assigning or changing the assigned task for each mobile body; means 2: appropriately setting or changing the order in which the mobile body executes each assigned task; means 3: appropriately setting or changing the moving path of the mobile body when going to the task location of the next assigned task after completing the current assigned task.

4. The moving body control system according to claim 3, characterized by The processing module makes the preset condition not to be established by using at least one of the means 1 to 3, and re-formulates the scheme when the monitoring finds that the preset condition is established; the generating module re-generates and updates the control instruction based on the new scheme; and the control module controls the mobile body according to the updated control instruction.

5. The moving body control system according to claim 1, characterized by The mobile body processing module also needs to make the constraint condition to be established when formulating the scheme, and the constraint condition comprises: Constraint 1: the maximum number of assigned tasks of each mobile body at the same time does not exceed the number of accommodated articles.

6. The moving body control system according to claim 5, characterized by The constraint condition further comprises: Constraint 2: the arrival time of the mobile body at the assigned task location is not later than the specified arrival time.

7. The moving body control system according to claim 5, characterized by The processing module formulates the scheme according to the following steps: Step 1: obtaining task information, mobile body information and building data; Step 2: determining the constraint condition according to the task information and the mobile body information; Step 3: enumerating all possible first combinations, wherein the first combination represents the correspondence between the mobile body and the assigned task; Step 4: enumerating all possible execution sequences of the mobile body when executing the assigned task for each first combination; Step 5: planning the moving path of the mobile body when moving between different task locations when executing the assigned task by using the building data for each execution sequence of each first combination; Step 6: taking each possible combination of the first combination, the execution sequence and the moving path as a second combination, and adding it to the second combination list; Step 7: judging whether there is a second combination containing a specific area in the second combination list, if not, going to step 9, otherwise going to the next step; Step 8: judging whether the preset condition corresponding to the second combination containing the specific area is established, if yes, deleting the second combination containing the specific area from the second combination list, otherwise going to the next step directly; Step 9: selecting one second combination from the second combination list as the scheme and outputting it.

8. The moving body control system according to claim 2, characterized by The processing module makes condition 11 or condition 21 not to be established by using a specific measure when formulating the scheme, and the specific measure comprises the following steps: Step A: determining the location of the specific area on the map according to the building data; Step B: determining whether there is at least one passage between two adjacent specific areas; Step C: for two adjacent specific areas containing at least one passage, the two specific areas are respectively divided into two different sub-domains; for two adjacent specific areas not containing a passage, the two adjacent specific areas are combined as one sub-domain; Step D: for tasks whose task locations are in the same sub-domain, they are assigned to the same mobile body to execute; for tasks whose task locations are in different sub-domains, they are assigned to different mobile bodies to execute.

9. The moving body control system according to claim 5, characterized by The processing module formulates the scheme according to the following steps for the accumulated un-responded tasks and the currently idle mobile bodies: Step 1: obtaining the task information of the accumulated un-responded tasks, the mobile body information and the building data; Step 2: determining the constraint condition according to the task information and the mobile body information; Step 3, enumerate all possible first combinations, which are the correspondence between the mobile bodies and the assigned tasks; Step 4, for each first combination, enumerate all possible execution sequences of the mobile bodies performing the assigned tasks; Step 5, for each execution sequence of each first combination, plan a moving path of the mobile bodies performing the assigned tasks using the building information; Step 6, combine each possible first combination, execution sequence and moving path as a second combination, and add it to the second combination list; Step 7, determine whether there is at least one second combination in the second combination list that has not been selected, if not, go to Step 9, otherwise select a second combination from the second combination list that has not been selected as the selected combination; Step 8, determine whether the moving path of the mobile body currently in an idle state in the selected combination contains a specific area and makes the preset condition true, if so, delete the selected combination from the second combination list, and return to Step 7, otherwise return to Step 7; Step 9, select a second combination from the second combination list as the scheme; Step 10, assign the accumulated unresponded tasks to the mobile bodies currently in an idle state according to the scheme, and end.

10. The moving body control system according to claim 5, characterized by For the accumulated unresponded tasks and the mobile bodies currently in an idle state, the processing module formulates the scheme according to the following steps: Step 1, obtain the task information of the accumulated unresponded tasks, the mobile body information and the building information; Step 2, determine the constraint conditions according to the task information and the mobile body information; Step 3, determine a first combination, which is the correspondence between the mobile bodies and the assigned tasks; Step 4, for the first combination, determine an execution sequence of the mobile bodies performing the assigned tasks; Step 5, for the execution sequence of the first combination, plan a moving path of the mobile bodies performing the assigned tasks using the building information; Step 6, combine the first combination, execution sequence and moving path as a second combination; Step 7, determine whether the moving path in the second combination contains a specific area that makes the preset condition true, if not, take the current scheme as the final scheme and end, otherwise change the scheme of the mobile bodies currently in an idle state and / or the scheme of the mobile bodies that have responded but have not completed the tasks until the scheme makes the preset condition not true.

11. The moving body control system according to claim 10, characterized by The Step 7 changes the scheme in the following way: The processing module makes the preset condition not true by formulating a scheme that makes at least one condition in the first condition group or the second condition group not true, thereby avoiding the mobile bodies being blocked in the specific area, the first condition group includes: Condition 11, the moving path of the mobile bodies contains the same first specific area; Condition 12, there is overlap in the passing time period of the mobile bodies passing through the same first specific area; The second condition group includes: Condition 21, the moving path of the mobile bodies contains the same second specific area; Condition 22, the passing time period of the mobile body through the same second specific area exists overlap; Condition 23, the passing direction of the mobile body in the second specific area is opposite.

12. The moving body control system according to claim 5, characterized by For the accumulated unresponded tasks, when the task content of each task is the same and only the task location is different, the processing module formulates the scheme according to the following steps: Step 1, obtaining the task information of the to-be-completed tasks, the mobile body information and the building data, the to-be-completed tasks including the tasks that have been responded and not completed and the accumulated unresponded tasks, the mobile body including the mobile bodies currently in idle state and the mobile bodies currently in task execution, the mobile body information at least including the mobile body position information of the mobile bodies currently in task execution; Step 2, determining the constraint conditions according to the task information and the mobile body information; Step 3, enumerating all possible first combinations, and the first combination representing the corresponding relationship between the mobile body and the assigned task; Step 4, for each first combination, enumerating all possible execution sequences when the mobile body executes the assigned task; Step 5, for each execution sequence of each first combination, planning the moving path of the mobile body when moving between different task locations according to the building data and the mobile body position information; Step 6, taking each possible combination of the first combination, the execution sequence and the moving path as a second combination, and adding it to the second combination list; Step 7, judging whether there is a second combination containing a specific area in the second combination list, if not, going to step 9, otherwise going to the next step; Step 8, judging whether the preset condition corresponding to the second combination containing the specific area is established, if yes, deleting the second combination containing the specific area from the second combination list, otherwise going to the next step directly; Step 9, selecting one second combination from the second combination list as the scheme and outputting; Step 10, assigning all to-be-completed tasks to all mobile bodies including the mobile bodies currently in idle state and the mobile bodies currently in task execution according to the scheme.

13. The moving body control system according to claim 7, 9, or 12, characterized by, The step 9 selects the scheme from the second combinations in which the preset condition is established according to the principle of minimum distribution cost of the mobile body or the highest distribution efficiency of the mobile body.

14. The mobile body control system according to any one of claims 1 to 12, wherein when the specific area is a first specific area, the processing device determines and judges whether the preset condition is established according to the passing time period of the mobile body through the specific area and the moving direction of the mobile body through the specific area; when the specific area is a second specific area, the processing device determines and judges whether the preset condition is established according to the passing time period of the mobile body through the specific area.

15. The moving body control system according to claim 9, 10, or 12, wherein The judgment of the preset condition includes the following two parts: Part 1, whether the preset condition is established between each mobile body executing the accumulated unresponded distribution request task; Part 2, whether the preset condition is established between each mobile body executing the accumulated unresponded distribution request task and the mobile body currently in task execution.

16. The moving body control system according to claim 9, 10, or 12, wherein Before the step 1, further comprising: Step A, judging whether a cumulative condition is established, if yes, entering the next step, otherwise, returning to step A, the cumulative condition is that only when the cumulative condition is established, the mobile body control system controls the mobile body to perform the assigned task.

17. The moving body control system according to claim 16, characterized by The cumulative condition refers to any one of the following conditions: Cumulative condition 1, the accumulated unresponded requests reach a preset number; Cumulative condition 2, the time interval from the earliest received time among all unresponded requests to the current time exceeds a time threshold; Cumulative condition 3, when the request specifies a latest delivery time, the current time reaches a specific time, which is a time corresponding to a preset time amount in advance on the basis of the latest delivery time.