Material distribution coordination method and device

Abstract

The invention provides a material distribution coordination method and device, relates to the technical field of automatic control, and mainly aims to solve the problem that a current robot distribution mode only depends on order data to extract and distribute materials. The technical problem that a robot cannot flexibly adjust a delivery task according to the real-time material demand change of a construction site in the task execution process and the delivery efficiency is affected due to the fact that the new order is processed after the data processing of the current order is completed even if the new order data is received is solved. According to the main technical scheme, the method comprises the steps of receiving a to-be-executed target task in the process of executing a material distribution task; based on the execution state of the current task and the execution information of the target task, whether the material distribution task is interrupted is judged; if yes, executing the target task according to the current state information; and if not, adding the target task into a to-be-executed task list so as to extract the material distribution task from the to-be-executed task list after the material distribution task is completed.

Description

Technical Field

[0001] The present application relates to the field of automated control technology, and in particular to a material distribution coordination method and device. Background Art

[0002] With the rapid development of the construction industry, material management and distribution have become one of the key factors to improve construction efficiency and reduce costs. In recent years, the application of robotics in the construction field has become increasingly widespread, especially in material distribution. The construction management system based on the building information model can provide detailed material information, providing important data support for the material distribution of robots at the construction site. However, in practical applications, how to efficiently coordinate multiple robots to perform material distribution tasks in complex environments still faces many challenges.

[0003] Existing robot delivery methods usually rely on order data to deliver materials. The order records the item number and the destination of the item. The item corresponding to the number is automatically or manually obtained from the shelf and then delivered to the correct destination by a logistics robot.

[0004] Although the existing robot delivery method has improved the efficiency of material delivery, this delivery method relies entirely on order data to extract and deliver materials, which means that the robot cannot flexibly respond to emergencies or unplanned changes in demand. For example, at a construction site, material demand may change at any time, and the robot will process new order data after completing the current material delivery task, which means that it cannot adjust its delivery task according to real-time demand. It can be seen that there are certain limitations in flexibility in relying solely on order data to extract materials. Therefore, in order to ensure that the robot can flexibly adjust the delivery task according to the real-time material demand changes at the construction site during the execution of the task, and avoid affecting the delivery efficiency due to changes in demand, it is necessary to develop a method for coordinating robot delivery to ensure that the delivery process is more efficient and adaptable to actual conditions. Summary of the invention

[0005] In view of the above problems, the main purpose of the present invention is to provide a material distribution coordination method and device, which can solve the problem that the current robot distribution method only relies on order data to extract and distribute materials. Even if new order data is received, the new order will be processed after the data processing of the current order is completed. This leads to the technical problem that the robot cannot flexibly adjust the distribution task according to the real-time material demand changes at the construction site during the execution of the task, thereby affecting the distribution efficiency.

[0006] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] A first aspect of the present invention provides a material distribution coordination method, the method comprising:

[0008] In the process of executing the material distribution task, receive the target task to be executed;

[0009] Based on the execution status of the current task and the execution information of the target task, determine whether to interrupt the material distribution task;

[0010] If so, the target task is executed according to the current state information;

[0011] If not, the target task is added to the list of tasks to be performed, so that the material distribution task can be extracted from the list of tasks to be performed after the material distribution task is completed.

[0012] A second aspect of the present invention provides a material distribution coordination device, the device comprising:

[0013] A receiving unit is used to receive a target task to be executed during the execution of a material distribution task;

[0014] A judgment unit, used to judge whether to interrupt the material distribution task based on the execution status of the current task and the execution information of the target task;

[0015] An execution unit, used for executing a target task according to the current state information when the judgment result of the judgment unit is yes;

[0016] The adding unit is used to add the target task to the list of tasks to be executed when the judgment result of the judging unit is no, so as to extract the material distribution task from the list of tasks to be executed after the material distribution task is completed.

[0017] The third aspect of the present invention provides an electronic device, which includes at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute a material distribution coordination method.

[0018] A fourth aspect of the present invention provides a readable storage medium, which is used to store a computer program, wherein when the computer program is running, it controls the device where the storage medium is located to execute the material distribution coordination method.

[0019] By means of the above technical scheme, the present invention proposes a material distribution coordination method, which aims to improve the flexibility and efficiency in the distribution process. While the material distribution task is continuing, once a new target task to be executed is received, the evaluation process is started. The process first analyzes the real-time execution status of the material distribution task currently being executed, including but not limited to the distribution progress, remaining time, required resources and current location, and at the same time considers the specific execution information of the target task in detail, such as the urgency, target location, material category and its distribution requirements. Based on the comprehensive consideration of the above two dimensions, it is judged whether the current task should be interrupted immediately to give priority to responding to and processing the newly received target task. If the judgment result tends to be interrupted, while interrupting the current material distribution task, the distribution strategy is dynamically adjusted according to the current status information, which may involve re-planning the optimal distribution route, timely adjusting the order of material distribution, and even optimizing resource allocation, so as to ensure that the target task can be efficiently executed. On the contrary, if it is judged that it is more reasonable to maintain the continuity of the current task, the new target task will be added to the list of tasks to be executed, waiting for timely processing. This list manages all pending delivery tasks, and then, according to preset rules or task priorities, after the current material delivery task is completed, the subsequent tasks will be extracted from the list in an orderly manner and continue to be executed, thereby achieving seamless connection and efficient operation of the overall delivery process. In summary, this method ensures that in the process of distributing materials, real-time attention is paid to changes in material extraction tasks, thereby avoiding delivery delays caused by failure to respond to changes in real-time material demand in a timely manner. By flexibly adjusting the delivery tasks to match the actual material demand, not only the accuracy of the delivered materials is ensured, but also the overall efficiency of material distribution is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0021] Figure 1 A schematic diagram of a process flow of a material distribution coordination method proposed in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of a process for determining interruption of a material distribution task proposed by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of a process for executing a target task proposed by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a process of resuming an interrupted material distribution task proposed by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the structure of a material distribution coordination device proposed in an embodiment of the present invention;

[0026] Figure 6 A detailed structural diagram of a material distribution coordination device proposed in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0028] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0029] The technical solution of the present invention is derived from an in-depth analysis of the problems existing in the prior art and the need for technical improvement. Specifically, current robots mainly rely on pre-set order data to perform material extraction and delivery tasks. However, this delivery method has an obvious technical limitation: it tends to process the received order data sequentially, that is, it will turn to new orders only after completing the current order processing. This processing mode limits the robot's ability to quickly and flexibly adjust its delivery tasks when faced with real-time changing material demands at the construction site. Therefore, once the demand changes, the existing delivery process may be affected, resulting in a decrease in delivery efficiency.

[0030] In view of this, the inventor of this case thought of designing a material distribution coordination method and device to overcome the problems of the prior art. This technical solution introduces a real-time task evaluation and dynamic adjustment mechanism. When a new distribution task is received, a comprehensive analysis of the currently being executed tasks and new tasks will be immediately performed, including multi-dimensional information such as task progress, urgency, and material requirements. Based on this information, it can be determined whether the current task needs to be interrupted to give priority to the new task, or to add the new task to the list to be executed and wait for subsequent processing to cope with the real-time changes in material demand at the construction site. It can be seen that the method and device can pay attention to and flexibly respond to changes in material demand at the construction site in real time, ensuring the efficient and accurate execution of distribution tasks.

[0031] Specifically, the embodiment of the present invention provides a material distribution coordination method, the execution subject of which is the robot's own control system, which is equivalent to the robot's "brain", responsible for receiving instructions, processing information and driving the mechanical structure to complete the predetermined task. In this embodiment, if the robot encounters a new material demand during operation, the specific execution steps are as follows: Figure 1 As shown, including:

[0032] Step 101: During the execution of the material distribution task, a target task to be executed is received.

[0033] During the delivery mission, the robot will continue to communicate with the control center so as to receive new tasks when necessary. Here, the robot includes but is not limited to using wireless communication technologies, such as Wi-Fi, Bluetooth or dedicated wireless networks, to receive real-time tasks from the control center. Even if the robot has started delivering materials, it will continue to monitor possible new tasks so as to make necessary adjustments before reaching the destination.

[0034] If the robot receives a new target task to be executed during the distribution process, the robot will not immediately interrupt the current operation. Instead, the robot will start a judgment process when receiving a new task notification. This is because, in the absence of a clear priority between the current task and the new target task, the robot needs to determine whether the new task should be executed first based on certain criteria. Therefore, when a new target task arrives, the robot will proceed to step 102 for further decision-making.

[0035] Step 102: Based on the execution status of the current task and the execution information of the target task, determine whether to interrupt the material distribution task.

[0036] In this step, the robot will analyze the execution status of the current material distribution task, including but not limited to: the completion percentage of the current task; the remaining time required for the task; the urgency and priority of the current task; any unexpected situations or obstacles that may affect the execution of the task. At the same time, the robot will also consider the execution information of the newly received target task, including: the urgency of the target task; the expected completion time of the target task; the impact of the target task on the overall distribution plan; the importance of the successful execution of the target task to customer satisfaction or business operations. Then, based on the information collected in the above two steps, the robot will execute the following judgment logic: If the target task has a higher urgency or priority than the current task, and interrupting the current task will not cause unacceptable risks or losses, the robot may decide to interrupt the current task to execute the target task, that is, enter step 103. If the current task is close to completion, or interrupting it will bring a greater negative impact, the robot may choose to add the target task to the list of tasks to be executed and continue to complete the current task, that is, enter step 104.

[0037] In the embodiment of the present invention, it can be decided whether to interrupt the current task to execute the target task according to the time window of the current material distribution task and the target task.

[0038] Specifically, before executing the material distribution task, the robot will receive a material distribution instruction, which contains a construction schedule and a material data table. After parsing the construction schedule and the material data table, the robot will first obtain the start and end time of each construction stage and the list of materials required for each stage from the construction schedule. Then, the number, storage location, use location, construction stage and other information of each material are obtained from the material data table. Then, based on the construction schedule and the material data table, the materials required for each construction stage are matched with their storage location and use location. Finally, according to the time node of the construction stage and the material storage location, the matched materials are sorted to determine the extraction priority. The sorted material information is organized into a list of tasks to be executed, including information such as material number, extraction time, extraction location, and distribution destination. In this way, the list of tasks to be executed generated according to the construction schedule and the material data table provides clear distribution instructions for the unmanned transportation system, thereby realizing efficient and accurate material distribution. At the same time, the material extraction task list is set according to the priority of material distribution, ensuring that important materials are distributed first. Finally, the task list records the detailed information of each delivery task, which is convenient for subsequent query and tracing, and can be used for data analysis, optimizing the delivery process and further improving delivery efficiency.

[0039] That is to say, when the robot works according to the list of tasks to be executed, there are corresponding execution times and deadlines. Then, when the robot receives a new target task, since under normal circumstances, the priority of the new target task is relatively high, the deadline for completing the material distribution task can be used as the judgment point, and the deadline of the target task can be used as the main point. Consider whether completing the current material distribution task and then executing the target task will exceed the deadline of the target task, to determine whether it is necessary to interrupt the current task and execute the target task instead. In summary, if the target task has a strict time window, and the completion of the current task will miss this window, the current task should be interrupted.

[0040] Alternatively, if both the target task and the current material distribution task have loose time windows, the execution progress can be used as the judgment point. For example, if the current material distribution task has completed most of the work, then the current material distribution task will be continued before executing the target task. On the contrary, if the current material distribution task has just started, it is more likely to execute the target task first.

[0041] Alternatively, historical data may be used to predict the long-term effects of interruption or non-interruption, and decisions may be made accordingly. This step does not specifically limit other judgment methods.

[0042] In addition, in this embodiment, when deciding whether to interrupt the current task and execute the target task based on the time window, the overlap between the current material distribution task and the target task can also be considered to coordinate the execution of the current task and the target task.

[0043] Specifically, when the robot receives a target task, it checks whether the target task in the task is a modified version of the current task, such as modifying the quantity of the current material extraction. If so, it means that the current material extraction task can be adjusted according to the modified content, that is, the new material extraction task covers the part that needs to be modified, such as adjusting the quantity of material A in the current material as an example:

[0044] If the current material extraction progress has not reached the extraction of material A, then the task before material A will continue to be executed according to the original plan, and then when extracting material A, the original plan will be interrupted and the new material extraction task will be executed instead;

[0045] If the current material extraction progress has reached the extraction of material A, interrupt the original plan to extract material A, and obtain the original planned extraction quantity of material A. If the current extraction quantity of material A is less than the requirement of the new material extraction task, continue to extract the remaining quantity of material A; otherwise, put the excess material A back to its original place.

[0046] If the current material extraction progress has been completed and the extracted material A is in the distribution process, then select the corresponding adjustment measures based on the current extraction quantity and the new required extraction quantity: if the current extraction quantity is less than the new required quantity, based on the current position on the distribution route, determine whether to deliver these materials to the destination first or to replenish the materials first and then deliver them to the destination.

[0047] Take adjusting the types of current materials as an example: adjust material A to B.

[0048] If material A is being extracted, then the extraction of the current material A will be interrupted, and material A will be put back to its original place, and then material B will be extracted. If the current extraction of material A is not much, you can also take material A to extract material B first if the robot has enough memory.

[0049] If material A has been picked up and is currently being delivered to the destination, choose to execute the task of picking up material B according to the actual situation, such as: putting material A in a temporary storage point and then picking up material B, or directly taking material A to pick up material B.

[0050] If the new material extraction task is not a modified version of the current material extraction task, that is to say, the material extraction task and the current material extraction task exist together in the robot's material extraction task list. What needs to be considered is the execution order relationship between the current material extraction task and the new material extraction task, that is: the new material extraction task is inserted before or after the current material extraction task. It should be noted here that post-insertion does not mean that the target task will be executed immediately after the current task is completed. If there are other tasks with higher priority than the target task, these high-priority tasks also need to be executed first.

[0051] Specifically, when it is known that the new material extraction task is to be inserted into the current material extraction task, the insertion method is analyzed: determine whether executing the current material extraction task first and then executing the new material extraction task meets the instruction requirements; if so, the new material extraction task is "pre-inserted" into the current material extraction task; otherwise, it is "post-inserted".

[0052] Specifically, after receiving the task of extracting new materials, the robot evaluates the total time consumed to deliver the current materials to the destination and then deliver the new materials to the destination according to the current material extraction level. The factors used for evaluation include: monitoring the current state of the robot and available resources; calculating the time required to reach the material extraction location from the current location; calculating the time required for material extraction and loading; calculating the time required to reach the target location from the material extraction location, etc. Then, compare whether the total time consumed by the robot to extract and deliver the current materials and the new materials exceeds the deadline for the new materials. If the total time consumed is less than or equal to the deadline for the new materials, the new material extraction task can be executed after the current material extraction task is executed, that is, the new material extraction task is "post-insertion", of course, it can also be "pre-insertion", so in order to further determine whether it is pre-insertion or post-insertion, the result can be obtained by comparing the priorities of the current material extraction task and the new material extraction task; otherwise, the current task is interrupted and the target task is executed instead.

[0053] In general, in this step, during the execution of the material distribution task, the robot analyzes the completion progress of the current task, the time required for the remaining tasks, the urgency and priority of the tasks, and the emergencies or obstacles that may affect the execution of the tasks, and makes a comprehensive judgment based on the urgency of the newly received target tasks, the expected completion time, the impact on the overall distribution plan, and other factors. Through this multi-dimensional analysis process, the robot can flexibly adjust the order of task execution, optimize resource allocation, improve distribution efficiency, and ensure that urgent and high-priority tasks are responded to in a timely manner, thereby meeting actual needs while reducing operating costs, delays and errors, and improving the adaptability and coordination of the entire distribution system.

[0054] Step 103: Execute the target task according to the current status information.

[0055] When the judgment result obtained in step 102 is to interrupt the current material distribution task and execute the target task instead, the robot needs to execute the target task according to the current state information. The state information includes but is not limited to: the current position of the robot. The robot needs to know its exact position in order to plan the best path from the current position to the starting point of the target task; the current state of the robot, including the power of the robot, the cargo situation, etc., to ensure that the robot is capable of executing the new task; the interruption point of the current task, recording the specific location and status of the interruption of the current task, so that the task may be restarted later; detailed information of the target task, including the type of target task, required materials, destination, urgency, expected completion time, etc.; resource availability, confirming whether the resources required to execute the target task are available; environmental conditions, considering changes in the surrounding environment, such as traffic conditions, weather conditions, potential obstacles, etc. The distribution network status, understands the location and status of other robots in the entire distribution network to coordinate task execution and avoid conflicts.

[0056] Among them, the path planning for the robot to perform the target task according to the current position includes: 1. Obtaining map data, which can be a pre-loaded map, a map updated in real time through sensors, or a map sent by the superior; 2. Determining the starting point and the end point, the robot needs to know its current position (starting point) and the target position (end point), which is usually determined by GPS, landmark recognition, internal sensors or other positioning technologies. 3. Environmental perception, the robot uses sensors (such as lidar, radar, ultrasonic sensors, etc.) to perceive the surrounding environment and identify obstacles, dynamic objects and potential dangerous areas. 4. Path planning algorithm, the robot uses the path planning algorithm to calculate the optimal path from the starting point to the end point. 5. Path optimization, after obtaining the preliminary path, the robot may need to optimize it to reduce driving time, avoid collisions, save time or energy. 6. Obstacle avoidance strategy, the robot must have an obstacle avoidance strategy to deal with obstacles on the path. This may include replanning the path, detouring obstacles or stopping when necessary. 7. Once the path planning is completed, the robot will start to move along the planned path. During the movement, the robot will continue to perceive the environment and adjust the path as needed.

[0057] In this step, the robot will use this status information to develop a plan to execute the target task and start implementing it to ensure that the task can be completed efficiently and safely. It should be noted that for safety reasons, before executing the target task, the robot also needs to ensure the safety of the operation. For example, when confirming the execution of the target task, if the robot is performing a critical operation, such as extracting materials, it should safely stop the current operation before responding to the new task.

[0058] Step 104: Add the target task to the list of tasks to be executed.

[0059] When the judgment result obtained in step 102 is to continue to execute the current material delivery task, the robot will add the target task to the list of tasks to be executed, so that after completing the material delivery task, the robot can extract the material delivery task from the list of tasks to be executed.

[0060] Specifically, in this step, the robot will add the target task to the list of tasks to be executed according to certain rules. The following are the specific steps of this process:

[0061] Step 1: Check whether there are other tasks in the list of tasks to be executed.

[0062] Step 2: If it exists, based on the task deadline, adjust the order of extracting material distribution tasks in the to-be-executed list so that the tasks with the earliest deadline are executed first.

[0063] In addition to considering the order of extracting material distribution tasks according to the time window in the above step 2, tasks can also be sorted based on task urgency, resource requirements, distance and route, etc.

[0064] After the robot adds the target task to the list of tasks to be performed, it will also manage the task list to ensure that the tasks can be performed efficiently and in an orderly manner. This may include merging similar tasks and avoiding duplicate tasks.

[0065] Once the current task is completed, the robot will prepare to take the next task from the list of pending tasks. This may involve preparations such as re-planning the path, loading supplies, etc. When the robot is ready to perform a new task, it will take the next task from the list of pending tasks and start executing it according to the requirements of the task.

[0066] In this step, through the above process, the robot can ensure that all tasks are properly handled while maintaining the continuity and efficiency of operations. The list of tasks to be performed is a key component of robot task management. It helps the robot organize the workflow and ensure that the priority and order of tasks are properly managed.

[0067] Based on the above Figure 1It can be seen from the implementation method that the present invention proposes a material distribution coordination method and device. The method aims to improve the flexibility and efficiency in the distribution process. While the material distribution task is continuing, once a new target task to be executed is received, the evaluation process is started. The process first analyzes the real-time execution status of the material distribution task currently being executed, including but not limited to the distribution progress, remaining time, required resources and current location, and at the same time considers the specific execution information of the target task in detail, such as the urgency, target location, material category and its distribution requirements. Based on the comprehensive consideration of the above two dimensions, it is judged whether the current task should be interrupted immediately to give priority to responding to and processing the newly received target task. If the judgment result tends to be interrupted, while interrupting the current material distribution task, the distribution strategy is dynamically adjusted according to the current status information, which may involve re-planning the optimal distribution route, timely adjusting the order of material distribution, and even optimizing resource allocation, so as to ensure that the target task can be efficiently executed. On the contrary, if it is judged that it is more reasonable to maintain the continuity of the current task, the new target task will be added to the list of tasks to be executed, waiting for timely processing. This list manages all the delivery tasks to be executed, and then according to the preset rules or task priorities, after the current material delivery task is completed, the subsequent tasks are extracted from the list in an orderly manner and continued to be executed, so as to achieve seamless connection and efficient operation of the overall delivery process. In summary, this method ensures that in the process of distributing materials, the changes in material extraction tasks are paid attention to in real time, thereby avoiding delivery delays caused by failure to respond to changes in real-time material demand in a timely manner. By flexibly adjusting the delivery tasks to match the actual material demand, not only the accuracy of the distributed materials is ensured, but also the overall efficiency of material distribution is improved.

[0068] Furthermore, in order to further optimize the interruption judgment and coordination response mechanism of the robot in the material distribution task in step 102, the embodiment of the present invention provides a detailed execution process to ensure that the robot can respond to changes in material demand on the construction site in a timely manner and provide accurate construction materials to meet the project's requirements for the immediacy and accuracy of construction materials. Figure 2 As shown, the detailed steps of the distribution coordination method are as follows:

[0069] Step 201: Determine the remaining execution time of the material distribution task and the location information of the completed task.

[0070] In this step, when the robot performs the material distribution task, it needs to monitor its own status in real time in order to accurately determine the execution stage and position of the current task. Specifically, the robot continuously monitors its own position and environmental information through sensors (such as lidar, cameras, etc.). Then, based on its own status, it determines which stage of the material distribution task it is currently in. For example, it may be in different stages such as extracting materials, loading materials, transporting materials, or unloading materials. Next, the robot determines its current position on the material distribution route, which helps to understand the distance and direction of the starting point of the roadbed target task. Based on the stage and route position of the current task, combined with the historical data of task execution and the current speed, the robot estimates the remaining execution time to complete the current material distribution task. The robot records the execution status of the current material distribution task, including the remaining execution time and location information, for subsequent decision-making and task execution.

[0071] The robot can understand its own status and task execution in real time, providing accurate data support for subsequent decision-making. This helps the robot adjust the order of task execution according to actual conditions and ensure the smooth completion of material distribution tasks.

[0072] The calculation of the remaining execution time is a process that takes multiple factors into consideration. An exemplary calculation process is provided below:

[0073] 1. Determine the current mission stage: First, the robot needs to know which stage of material distribution it is currently in (such as picking up materials, loading, in transit, unloading, etc.). The execution speed, possible obstacles and time consumption of different stages will vary.

[0074] 2. Evaluate the remaining distance: Use GPS positioning, map matching or pre-planned route information to determine the remaining distance from the robot's current position to the mission endpoint (or the next key node).

[0075] 3. Consider the current travel speed: Based on the robot's current travel speed (which may include average speed and instantaneous speed), estimate the time required to travel the remaining distance while keeping the current speed unchanged.

[0076] 4. Adjustment factors: Taking into account various factors that may be encountered during the execution of the task (such as changes in road conditions, traffic conditions, weather conditions, the impact of material weight on travel speed, etc.), one or more adjustment factors are introduced to correct the basic time estimate. These factors can be empirical values ​​based on historical data or dynamic values ​​obtained through real-time data analysis.

[0077] 5. Calculate the remaining execution time:

[0078] Multiply the base time estimate (distance remaining divided by current speed) by the adjustment factor to get the final remaining execution time. The formula might look like this:

[0079] Remaining execution time = (remaining distance / current speed) * adjustment factor

[0080] The adjustment factor may be a number greater than or less than 1 and is used to increase or decrease the base time estimate.

[0081] During the task execution, the robot should continuously monitor its own status and surrounding environment, update the remaining distance, travel speed and adjustment factor in real time, and recalculate the remaining execution time accordingly. This can ensure the accuracy of the estimation. In addition, it should be noted that the above steps are a general description and need to be adjusted and optimized according to specific circumstances in actual applications.

[0082] Step 202: Obtain the planned completion time of the target task, and calculate the planned execution duration of the target task based on the location information.

[0083] In this step, when the robot receives a new target task, it will immediately obtain detailed execution information about the task, including the task type, required materials, destination, urgency, and planned completion time. When deciding whether to prioritize the execution of this new task, the robot will first evaluate the time required to complete the current material distribution task, that is, the remaining execution time and the location information of the completed task in step 201. If the robot is expected to reach the starting point of the target task from the location of the completed task in time after completing the current task, then it will calculate the total time required to execute the target task from this location until the execution of the task is completed, that is, the planned execution time.

[0084] Specifically, calculating the planned execution time mainly involves comprehensive consideration of time and geographical location to ensure that the task can be carried out according to the predetermined schedule and conditions. The following is a detailed step-by-step description:

[0085] 1. Get the planned completion time of the target task: First, you need to get the planned completion time of the target task from the execution information. This time point is usually given in the format of date and time, such as "2023-04-15 14:00:00".

[0086] 2. Get location information: Next, you need to get the location information needed to perform the task. This can include the location information for completing the material delivery task, the starting location of the target task, the target location of the target task, or any geographical location related to the task execution.

[0087] 3. Calculate the execution time: Calculating the execution time based on the location information may involve multiple stages: from the location information of the completed material distribution task to the starting position of the target task, then to the target storage point to extract the materials and load them onto the robot, and then transport the materials to the target position corresponding to the end point and unload the materials. For each stage, the time is estimated separately, among which the material extraction and loading stages are usually estimated based on empirical data or historical data. Add up the time for each stage to get the total required time. Note that if some stages are carried out in parallel (for example, certain preparations can be carried out simultaneously during driving), the time needs to be adjusted appropriately. In order to cope with uncertainties (such as traffic delays, equipment failures, etc.), a certain buffer time is usually added to the total required time. The size of the buffer time depends on the complexity of the task and the requirements for time sensitivity.

[0088] Step 203: Determine whether the target task can be completed before the planned completion time based on the remaining execution time and the planned execution time.

[0089] In this step, the robot will compare the estimated total time required to perform the target task after completing the current material distribution task with the time required to complete the target task, and determine whether the target task can be completed before the planned completion time. If the estimated total time required is greater than the planned completion time, the current task needs to be interrupted and the target task needs to be performed instead, i.e., step 204 is entered. If the estimated total time required is less than or equal to the planned completion time, it means that even if the current material distribution task is completed first, there is enough time to complete the target task. At this time, it is necessary to further consider whether to interrupt the current task to give priority to the target task, i.e., step 205 is entered.

[0090] Step 204: interrupt the material distribution task and execute the target task.

[0091] In this step, the robot first evaluates the progress and status of the current material delivery task and determines the best interruption point. This may be at the material extraction stage, in transit, or at a location close to the delivery point. When the interruption point is determined, the robot performs a safe stop procedure to ensure a smooth interruption of the material delivery task, which may include slowing down, shutting down related equipment, etc.

[0092] Among them, for materials that have been picked up but have not yet been delivered to the destination, the robot needs to decide how to deal with these materials. For example, if the materials can be safely put back to their original place without affecting subsequent operations, the robot will perform the return operation. If the robot's internal storage space is large enough and carrying the extracted materials to perform the target task does not cause inconvenience or risk, the robot can choose to directly take the materials to extract the target materials. If the materials cannot be put back to their original place immediately and the robot needs to continue moving forward to perform the target task, the robot needs to find a suitable temporary storage point to place the materials. This storage point should be safe, easily accessible, and not cause obstacles to subsequent operations.

[0093] After completing the above preparations, the robot begins to perform the target task, which includes extracting the target materials and delivering them to the new destination. After the target task is completed, the robot needs to return to the previous material delivery task (if it still needs to be completed) or perform subsequent operations according to the new task assignment.

[0094] Step 205: Determine whether to execute the target task according to a preset strategy.

[0095] In this step, when the robot can either complete the current task first and then execute the target task, or interrupt the current task first and then execute the target task within the planned completion time of the target task, the robot needs to decide which execution method to choose based on the preset strategy.

[0096] Specifically, determining whether to execute the target task according to the preset strategy includes: obtaining the current location information of the material distribution task; calculating the predicted execution time of the target task based on the current location information; executing the target task when the predicted execution time does not exceed the remaining execution time. Alternatively, refer to the execution suggestions made by the dispatch center based on the overall situation.

[0097] Through the above steps, the robot can make a decision on whether to execute the target task based on the preset strategy and real-time monitoring data. This method helps the robot balance the continuity of task execution and the response speed to emergency tasks, ensuring the efficient and flexible execution of material distribution tasks.

[0098] Furthermore, for step 103, how to execute the target task according to the current state information requires comprehensive consideration of the current state of the robot, the execution information of the target task, and environmental factors to ensure that the task can be completed smoothly and efficiently. Figure 3 shown.

[0099] Step 301: Determine whether the extracted materials of the material distribution task can be allocated to the target task.

[0100] In this step, the main task is to determine whether the robot can redeploy the materials that were originally used for the interrupted material distribution task to the new target task before executing the target task. The purpose of this judgment is to optimize resource utilization, reduce unnecessary material handling and extraction processes, thereby shortening the execution time of the target task and improving overall efficiency. Specifically, the task will check whether the types of materials that have been extracted match the types of materials required for the target task, and consider the difference in the quantity of materials (whether they are sufficient or excessive) in order to make a decision on whether to redeploy.

[0101] Step 302: allocate the extracted materials and execute the target task.

[0102] If it is determined in step 301 that the extracted materials can be allocated to the target task, then the actual allocation process needs to be performed next. Specifically:

[0103] Step 1: Determine whether the extracted materials meet the quantity requirements of the target task.

[0104] First, it is necessary to clarify the actual amount of materials required for the target task and compare it with the amount of materials that have been extracted. If the amount of materials that have been extracted is greater than the amount required for the target task, then only the part required for the target task needs to be allocated, that is, proceed to step 2; if the amount is insufficient, it is necessary to consider whether it is necessary to supplement materials from other sources, or adjust the material requirements of the target task, that is, proceed to step 3.

[0105] Step 2: Allocate the extracted materials that meet the quantity requirements, and process the unallocated extracted materials based on the interruption processing mechanism.

[0106] First, the robot will check which types and quantities of the extracted materials can meet the needs of the target task. If the quantity of a certain material completely meets or exceeds the needs of the target task, then this part of the material will be directly allocated to the target task. If the quantity of a certain material is not enough to meet the needs of the target task, but some of it is still available, it may need to be handled according to the predetermined interrupt processing process. For example, in some cases, the robot may return the unallocated materials to the original storage location or transfer them to other more suitable locations.

[0107] Step 3: Determine the quantity of additional supplies required and extract the required additional supplies based on the quantity when performing the target task.

[0108] After completing the deployment of the extracted materials, the robot needs to calculate what additional materials are needed for the target task and the specific quantity of these materials. This may require comparison with the target task's requirements list and take into account the actual use of the deployed materials. Once the quantity and type of additional materials required are determined, the robot will go to the corresponding storage location to extract these materials. It should be noted that if there are other extracted materials for the target task, the extraction of the required additional materials may need to be carried out according to the priority relationship. During the extraction process, the robot may need to follow specific operating procedures and safety requirements to ensure the quality and integrity of the materials. If there are any difficulties or obstacles during the extraction process (such as material shortages, traffic congestion, etc.), the robot may need to adjust its action plan or request external assistance. After the extraction is completed, the robot will use the additional materials together with the deployed materials to perform the target task.

[0109] The implementation of steps one to three above will help optimize material utilization, improve task execution efficiency and reduce unnecessary waste.

[0110] Step 303: interrupt the material distribution task based on the interruption processing mechanism and execute the target task.

[0111] If it is determined in step 301 that the extracted materials cannot be allocated to the target task, the material distribution task needs to be interrupted according to a preset interruption processing mechanism so that sufficient robot storage space can be sorted out to execute the target task.

[0112] Among them, for the preset interruption handling mechanism, multiple factors need to be considered comprehensively when designing to ensure that the interruption of the material distribution task can be carried out in an orderly and efficient manner, and at the same time, the necessary robot storage space is freed up for the execution of the target task. Specifically, when the robot starts the interruption handling mechanism, the ongoing material distribution task should be suspended and any movement or operation related to the current task should be stopped. Then the progress of the current material distribution task, the completed part, the remaining material information, the target location, etc. are recorded in detail so that the subsequent tasks can be resumed. Then all resources related to the current task, including the robot storage space, are released to prepare for the unexecuted target task. After completing the above process, a notification is sent to the system administrator that the Gaozhi material distribution task has been interrupted and the reason is explained. It should be noted that for the arrangement of the robot storage space, the required robot storage space size can be evaluated according to the requirements of the target task. Then unnecessary materials or waste are moved out of the robot storage space, or temporarily stored in a safe and suitable place. Finally, the material layout in the robot storage space is replanned to improve storage efficiency and facilitate the execution of subsequent tasks. After arranging enough storage space, the robot begins to prepare to execute the target task.

[0113] Furthermore, for the above step 104, after adding the target task to the list to be executed, the robot will perform a dynamic adjustment process of priority and execution order to ensure that the tasks are executed in the optimal order. The following is a detailed description of the process:

[0114] 1. Check the list of pending tasks: First, the robot will check the current list of pending tasks to confirm whether the list already contains other tasks. If the list is empty, the target task will be directly added to the front of the list.

[0115] 2. Evaluate task priority: For each task in the list (including newly added target tasks), the robot will evaluate its priority based on a series of criteria (such as urgency, importance, execution time requirements, etc.). These criteria may be determined by predefined rules, algorithms, or user input.

[0116] 3. Sorting tasks: Based on the evaluated priorities, the robot will sort the tasks in the list. Tasks with higher priorities will be placed at the front of the list so that they can be executed first. If two or more tasks have the same priority, you may need to further consider other factors (such as task deadlines, dependencies, etc.) to perform subdivision sorting. For example, taking the task deadline as an example, adjust the order of the extracted material delivery tasks in the list to be executed so that the tasks with the earliest deadlines can be executed first.

[0117] 4. Notification and feedback: After completing the above steps, the robot will update the list of pending tasks to reflect the new task ranking and execution order. This will provide clear guidance and reference for subsequent task execution. Finally, the robot may send notifications to relevant systems or users to inform them of updates to the task list, including the location of the target tasks, the execution order, and any resource issues that may affect task execution. This helps ensure that all relevant parties are kept up to date with the latest status of task execution.

[0118] Through the above steps, the robot can dynamically adjust the priority and execution order of tasks to cope with the ever-changing execution environment and resource conditions, thereby ensuring that tasks can be completed efficiently and orderly.

[0119] Furthermore, if the robot interrupts the current material delivery task to execute the target task, then after the target task is completed, the robot needs to make a decision whether to continue to execute the interrupted material delivery task. The specific decision-making process is as follows: Figure 4 shown.

[0120] Step 401: When starting to execute the interrupted material distribution task, determine whether the material distribution task is still worth executing.

[0121] In this step, judging whether the material distribution task is still worth executing means whether the interrupted material distribution task still needs to be executed according to the original plan after the target task is completed. The judgment criteria can be: task impact, such as the interrupted task has a significant impact on the overall distribution plan and has a dependency relationship with other materials; task status: whether the interrupted task has undergone major changes, such as changes in the type of materials.

[0122] Specifically, taking demand information as an example, determine whether the interrupted material distribution task is still worth executing:

[0123] 1. Obtain the latest demand information and material availability information for material distribution tasks.

[0124] The robot obtains the latest material distribution task demand information (material type and quantity) and material availability information by communicating with the task management system or dispatch center.

[0125] 2. Compare the latest demand information with the difference in demand information at the time of interruption.

[0126] The robot compares the requirement information recorded at the time of the interruption with the latest requirement information to determine if there are any changes.

[0127] 3.1 If the type of materials in the demand information changes, the material distribution task is judged to have no execution value.

[0128] In the material distribution task management, when the demand information changes, the robot needs to analyze the content of the change to determine whether to continue to execute the interrupted task. If the demand information changes the type of material, it means that the nature and goal of the task have changed fundamentally, and the robot will determine that the interrupted material distribution task is not worth executing. This is because executing different types of material distribution tasks may require different processing procedures, transportation tools, and operating methods.

[0129] If the demand information changes the quantity of materials, the robot needs to obtain the material availability information to determine whether the stored materials meet the changed demand quantity. If the stored materials are not enough to meet the changed demand quantity, the robot will determine that the interrupted material distribution task has no execution value because it cannot execute the task according to the new demand.

[0130] If the stored materials are sufficient to meet the changed demand quantity, the robot can continue to perform the interrupted material distribution task.

[0131] 3.2 If the demand information has not changed and the materials are not available, the material distribution task is judged to have no execution value.

[0132] If the demand information has not changed, but the corresponding materials have changed, such as material damage, insufficient material quantity, etc., this will directly affect the execution of the material distribution task. In this case, the robot cannot perform the task as originally planned, because the availability of materials is the basis for executing the task. Therefore, the robot will determine that the interrupted material distribution task has no execution value.

[0133] Step 402: Resume the material distribution task according to the interruption information.

[0134] After the judgment in step 401, if the interrupted material distribution task still has execution value, it is necessary to restore the material distribution task according to the information saved during the interruption, including: restoring the state of the material distribution task at the time of interruption according to the interruption information; updating the execution plan of the material distribution task according to the state at the time of interruption; and starting to execute the material distribution task according to the execution plan.

[0135] Specifically, the robot will retrieve the status information saved during the interruption, including the interruption point of the task, the remaining execution time, location information, etc. If the extracted materials are deployed to the target task during the interruption, the status information also includes the materials that need to be supplemented and extracted. Then, based on the retrieved information, the robot updates the current status of the interrupted task to ensure that the task can continue to be executed from the interruption point. If the position of the robot at the time of the interruption is different from the current position, the robot needs to re-plan the path from the current position to the end point of the task and start executing the remaining part of the task until the task is completed. After completing the task, the robot updates the task execution record, including the actual completion time and results, and feeds back the results of the task execution to the dispatch center or task management system for subsequent processing and task monitoring.

[0136] Through the above steps, the robot can resume the material distribution task based on the information saved during the interruption and continue to execute the remaining part, ensuring that the task can be completed smoothly as originally planned. This method helps to improve the continuity of task execution and the efficiency of task management.

[0137] Step 403: Send a task cancellation request.

[0138] If step 401 determines that the interrupted material distribution task has no execution value, the robot will generate a task cancellation request, which contains the reason for task cancellation, timestamp, current task status, and any related exception information. The generated task cancellation request is then sent to the dispatch center so that the dispatch center can receive and process the request in a timely manner. If the dispatch center agrees to the cancellation request, the robot will update the task status to "cancelled" and record the sending time, receiving time, and response of the dispatch center in the task execution record. If the robot still has the extracted materials of the interrupted material distribution task, the robot will release these resources so that they can be used for other tasks.

[0139] After canceling the interrupted material delivery task, the robot's next move depends on the instructions of the dispatch center. The dispatch center will send new task instructions to the robot based on factors such as the current task queue, resource status and priority. The robot will determine the next task to be performed based on these instructions.

[0140] In this embodiment, the robot can accurately determine whether the interrupted material distribution task is still worth executing based on the changes in demand information, and thus decide whether to continue executing the task or reschedule it. This method helps the robot flexibly adjust the task execution strategy based on the actual status of the task and changes in demand, ensuring the effective execution of the material distribution task.

[0141] Further, based on the same inventive concept, as a Figure 1 In order to realize the method embodiment shown in the figure, the embodiment of the present invention also provides a material distribution coordination device. The embodiment of the device corresponds to the aforementioned method embodiment. For the sake of ease of reading, this embodiment will not repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to all the contents of the aforementioned method embodiment. Figure 5 As shown, the device includes: a receiving unit 51, a judging unit 52, an executing unit 53, and an adding unit 54.

[0142] The receiving unit 51 is used to receive a target task to be executed during the execution of the material distribution task;

[0143] A judgment unit 52, used to judge whether to interrupt the material distribution task based on the execution status of the current task and the execution information of the target task;

[0144] An execution unit 53 is used to execute the target task according to the current state information when the judgment result of the judgment unit 52 is yes;

[0145] The adding unit 54 is used to add the target task to the list of tasks to be executed when the judgment result of the judging unit 52 is negative, so as to extract the material distribution task from the list of tasks to be executed after the material distribution task is completed.

[0146] Furthermore, the embodiment of the present invention also provides a material distribution coordination device for the above Figure 1-4 This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will not repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to all the contents in the aforementioned method embodiment.

[0147] like Figure 6 As shown, the device comprises:

[0148] The receiving unit 51 is used to receive a target task to be executed during the execution of the material distribution task;

[0149] A judgment unit 52, used to judge whether to interrupt the material distribution task based on the execution status of the current task and the execution information of the target task;

[0150] An execution unit 53 is used to execute the target task according to the current state information when the judgment result of the judgment unit 52 is yes;

[0151] The adding unit 54 is used to add the target task to the list of tasks to be executed when the judgment result of the judging unit 52 is negative, so as to extract the material distribution task from the list of tasks to be executed after the material distribution task is completed.

[0152] In an optional implementation manner, the judging unit 52 includes:

[0153] The first determination module 521 is used to determine the remaining execution time of the material distribution task and the location information of the completed task;

[0154] A first acquisition module 522 is used to acquire the planned completion time of the target task and calculate the planned execution time of the target task according to the position information in the first determination module 521;

[0155] A first judgment module 523 is used to judge whether the target task can be completed before the planned completion time according to the remaining execution time and the planned execution time in the acquisition module 522;

[0156] The first interruption module 524 is used to interrupt the material distribution task and execute the target task when the first judgment module 523 judges that the task cannot be completed.

[0157] The second determination module 525 is used to determine whether to execute the target task according to a preset strategy when the first determination module 523 determines that the target task is executed.

[0158] In an optional implementation, the execution unit 53 includes:

[0159] The second judgment module 531 is used to judge whether the materials extracted by the material distribution task can be allocated to the target task;

[0160] The allocation module 532 is used to allocate the extracted materials and execute the target task when the judgment result of the second judgment module 531 is yes;

[0161] The second interruption module 533 is used to interrupt the material distribution task based on the interruption processing mechanism and execute the target task when the judgment result of the second judgment module 531 is failure.

[0162] Furthermore, the allocation module 532 includes:

[0163] The judging submodule 5321 is used to judge whether the extracted materials meet the quantity requirement of the target task;

[0164] The allocation submodule 5322 is used to allocate the extracted materials that meet the quantity requirement when the judgment result of the judgment submodule 5321 is satisfied, and process the unallocated extracted materials based on the interruption processing mechanism;

[0165] The determination submodule 5323 is used to determine the quantity of the required additional materials when the judgment result of the judgment submodule 5321 is not satisfied, and extract the required additional materials according to the quantity when executing the target task.

[0166] In an optional implementation, after the execution unit 53, the device further includes a recovery execution unit 55, and the recovery execution unit 55 includes:

[0167] The third judgment module 551 is used to judge whether the interrupted material distribution task still has execution value when starting to execute the interrupted material distribution task;

[0168] A recovery module 552, configured to recover the material distribution task according to the interruption information when the judgment result of the third judgment module 551 is that the task has execution value;

[0169] The sending module 553 is used to send a task cancellation request when the judgment result of the third judgment module 551 is that the task has no execution value.

[0170] In an optional implementation manner, the third determination module 551 includes:

[0171] The acquisition submodule 5511 is used to acquire the latest demand information and material availability information of the material distribution task;

[0172] The comparison submodule 5512 is used to compare the difference between the latest demand information in the acquisition submodule 5511 and the demand information at the time of interruption;

[0173] The first determination submodule 5513 is used to determine that the material distribution task has no execution value if the material type in the demand information changes;

[0174] The second determination submodule 5514 is configured to determine that the material distribution task has no execution value if the demand information has not changed and the materials are not available.

[0175] In an optional implementation, the recovery module 552 includes:

[0176] The recovery submodule 5521 is used to restore the interrupted state of the material distribution task according to the interruption information;

[0177] The updating submodule 5522 is used to update the execution plan of the material distribution task according to the interruption state provided by the recovery submodule 5521;

[0178] The execution submodule 5523 is used to start executing the material distribution task according to the execution plan in the update submodule 5522.

[0179] Furthermore, an embodiment of the present invention also provides an electronic device, which includes at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute Figure 1-4 Material distribution coordination methods in .

[0180] Furthermore, an embodiment of the present invention further provides a readable storage medium, the storage medium being used to store a computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute Figure 1-4 Material distribution coordination methods in .

[0181] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A material distribution coordination method, characterized in that: The method comprises: In the process of executing the material distribution task, receive the target task to be executed; Based on the execution status of the current task and the execution information of the target task, determine whether to interrupt the material distribution task; If yes, then execute the target task according to the current state information; If not, the target task is added to the list of tasks to be performed, so that the material distribution task can be extracted from the list of tasks to be performed after the material distribution task is completed.

2. The method according to claim 1, characterized in that Based on the execution status of the current task and the execution information of the target task, determining whether to interrupt the material distribution task includes: Determine the remaining execution time of the material delivery task and the location information of the completed task; Obtaining the planned completion time of the target task, and calculating the planned execution duration of the target task according to the location information; Determine whether the target task can be completed before the planned completion time according to the remaining execution time and the planned execution time; If not, the material distribution task is interrupted and the target task is performed; If possible, determine whether to execute the target task according to the preset strategy.

3. The method according to claim 1, characterized in that Executing the target task according to the current state information includes: Determine whether the materials extracted by the material distribution task can be allocated to the target task; If possible, the extracted materials are deployed and the target tasks are performed; If not, the material distribution task is interrupted based on the interruption processing mechanism, and the target task is executed.

4. The method according to claim 3, characterized in that: Allocate the extracted materials and execute the target tasks, including: Determine whether the extracted materials meet the quantity requirements of the target task; If the requirements are met, the extracted materials that meet the quantity requirement are allocated, and the unallocated extracted materials are processed based on the interruption processing mechanism; If not, the quantity of the required additional materials is determined, and the required additional materials are extracted according to the quantity when performing the target task.

5. The method according to any one of claims 1 to 4, characterized in that After executing the target task, the method further includes: When starting to execute the interrupted material distribution task, determining whether the material distribution task still has execution value; If it is still worth executing, resuming the material distribution task according to the interruption information; If it is not worth executing, a task cancellation request is sent.

6. The method according to claim 5, characterized in that When the interrupted material distribution task is started to be executed, determining whether the material distribution task still has execution value includes: Obtain the latest demand information and material availability information of the material distribution task; Compare the latest demand information with the difference in demand information at the time of interruption; If the material type in the demand information changes, it is determined that the material distribution task has no execution value; If the demand information has not changed and the materials are not available, it is determined that the material distribution task has no execution value.

7. The method according to claim 5, characterized in that Resuming the material distribution task according to the interruption information includes: Restoring the interrupted state of the material distribution task according to the interruption information; According to the interruption status, updating the execution plan of the material distribution task; The material distribution task is started to be executed according to the execution plan.

8. A material distribution coordination device, characterized in that: The device comprises: A receiving unit is used to receive a target task to be executed during the execution of a material distribution task; A judgment unit, used to judge whether to interrupt the material distribution task based on the execution status of the current task and the execution information of the target task; an execution unit, configured to execute the target task according to the current state information when the judgment result of the judgment unit is yes; The adding unit is used to add the target task to the list of tasks to be executed when the judgment result of the judging unit is no, so as to extract the material distribution task from the list of tasks to be executed after the material distribution task is completed.

9. An electronic device, characterized in that: The electronic device includes at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; the processor is used to call the program instructions in the memory to execute the material distribution coordination method described in any one of claims 1-7.

10. A readable storage medium, characterized in that: The storage medium is used to store a computer program, wherein when the computer program is running, it controls the device where the storage medium is located to execute the material distribution coordination method according to any one of claims 1 to 7.

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