Carrying task allocation method, electronic equipment and computer readable storage medium

Abstract

The invention discloses a carrying task allocation method, electronic equipment and a computer readable storage medium, and the method comprises the steps: responding to a received carrying task and at least one idle robot, and calculating the first allocation cost of the idle robot; wherein the first allocation cost comprises a first path cost of the idle robot moving from the current position to a task starting point corresponding to the carrying task, and an estimated passing cost when the idle robot needs to pass through the checkpoint; in response to at least one working robot which is executing the current task in the carrying area, calculating a second allocation cost of the working robot; wherein the second allocation cost comprises the time required for completing the current task of the working robot and a second path cost for moving from a task end point corresponding to the current task to a task starting point corresponding to the carrying task; and deploying a corresponding target robot for the carrying task based on the first deployment cost and the second deployment cost. According to the scheme, the execution efficiency of the carrying task can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of transport robots, and in particular to a method for allocating transport tasks, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the rapid development of intelligent manufacturing, the application scenarios of handling robots are becoming more and more extensive, such as in factories, warehouses, turnover stations, e-commerce logistics and other fields. Therefore, the requirements for the operating efficiency of handling robots are becoming higher and higher, and the operating efficiency of handling robots is closely related to the allocation of handling tasks.

[0003] The inventor of the present application has found in the long-term research process that the existing deployment scheme has a low utilization rate for the handling robot, resulting in a low execution efficiency of the handling task. In view of this, how to improve the execution efficiency of the handling task has become an urgent problem to be solved. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a method for allocating transport tasks, an electronic device and a computer-readable storage medium, which can improve the execution efficiency of transport tasks.

[0005] To solve the above technical problems, the first aspect of the present application provides a method for allocating handling tasks, comprising: in response to receiving the handling task and at least one idle robot, calculating a first deployment cost of the idle robot; wherein the handling task corresponds to a handling area, the handling area includes multiple task starting points and task end points, each of the handling tasks corresponds to one task starting point and one task end point, the first deployment cost includes a first path cost for the idle robot to move from a current position to the task starting point corresponding to the handling task, and an estimated travel cost when a checkpoint needs to be passed; wherein the checkpoint is at least set between adjacent handling areas; in response to the handling area including at least one working robot that is performing a current task, calculating a second deployment cost for the working robot; wherein the second deployment cost includes the time required for the working robot to complete the current task and a second path cost for moving from the task end point corresponding to the current task to the task starting point corresponding to the handling task; based on the first deployment cost and the second deployment cost, the corresponding target robot is deployed for the handling task.

[0006] To solve the above technical problem, the second aspect of the present application provides an electronic device, comprising a memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the method described in the first aspect.

[0007] In order to solve the above technical problem, the third aspect of the present application provides a computer-readable storage medium, which stores program instructions that can be executed by a processor, and the program instructions are used to implement the method described in the first aspect above.

[0008] The above scheme, in response to receiving a handling task and at least one idle robot, calculates the first deployment cost of the idle robot; wherein the handling task corresponds to a handling area, the handling area includes multiple task starting points and task end points, each handling task corresponds to a task starting point and a task end point, the first deployment cost includes the first path cost of the idle robot moving from the current position to the task starting point corresponding to the handling task, and the estimated passage cost when passing the checkpoint; wherein the checkpoint is at least set between adjacent handling areas; in response to the handling area including at least one working robot currently executing the current task, calculates the second deployment cost of the working robot; wherein the second deployment cost includes the time required for the working robot to complete the current task and the second path cost of moving from the task end point corresponding to the current task to the task starting point corresponding to the handling task; based on the first deployment cost and the second deployment cost, the corresponding target robot is deployed for the handling task. By adding the working robot currently executing the current task as the target robot when deploying the handling task, the alternative range of the target robot is expanded, the probability of the robot running without load is reduced, and the utilization rate of the robot is improved, thereby improving the execution efficiency of the handling task. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0010] Figure 1 It is a flow chart of an implementation method of a method for allocating a handling task of the present application;

[0011] Figure 2 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0012] Figure 3 It is a structural schematic diagram of an implementation method of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments, and different implementation methods can be adaptively combined. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0014] It should be noted that the technical solution of the present application is applied to a scheduling system that can freely deploy transport robots to perform transport work.

[0015] See also Figure 1 , Figure 1 It is a flow chart of an implementation method of a method for allocating a handling task of the present application, the method comprising:

[0016] S101: In response to receiving a transport task and having at least one idle robot, a first deployment cost of the idle robot is calculated; wherein, the transport task corresponds to a transport area, the transport area includes multiple task starting points and task end points, each transport task corresponds to a task starting point and a task end point, and the first deployment cost includes a first path cost for the idle robot to move from a current position to the task starting point corresponding to the transport task, and an estimated travel cost when passing a checkpoint; wherein the checkpoint is set at least between adjacent transport areas.

[0017] Specifically, a handling task corresponds to a handling area, and the scheduling system can freely deploy a handling robot to perform the corresponding handling task in the handling area. The handling area includes multiple task starting points and task end points. Each handling task corresponds to a task starting point and a task end point, and checkpoints are set between adjacent handling areas. When passing through a checkpoint, the handling robot needs to wait or interact with third-party equipment, which is more time-consuming than the normal movement of the handling robot. Therefore, it is necessary to estimate the pass cost. When the scheduling system receives a handling task and there is at least one idle robot, the first deployment cost of the idle robot is calculated.

[0018] In one application method, an idle robot is provided with a matching first rest area, each transport area is matched with a first rest area, and the first rest area matched with the transport area corresponding to the transport task corresponds to the rest area to be queried. In response to an idle robot staying in the rest area to be queried, a first path cost is calculated, and the first path cost is determined as the first deployment cost; in response to no idle robot staying in the rest area to be queried, the first path cost and the pass cost are calculated, and the first path cost and the pass cost are determined as the first deployment cost.

[0019] In one application scenario, after receiving a handling task, the scheduling system sets the first rest area matched by the handling area corresponding to the handling task as the rest area to be queried, and detects whether there are idle robots staying in the rest area to be queried. When there are idle robots staying in the rest area to be queried, the first path cost of the idle robot from the rest area to be queried to the task starting point of the handling area is calculated, which is the first deployment cost; when there are no idle robots staying in the rest area to be queried, the scheduling system deploys an idle robot from the first rest area of ​​another handling area to the task starting point of the handling area corresponding to the handling task. At this time, the first path cost of the idle robot and the cost of passing the checkpoint between the two handling areas are calculated, which is the first deployment cost.

[0020] In a specific application scenario, there are two transport areas, marked as the first work area and the second work area. Both the first work area and the second work area have multiple task starting points and task end points, and checkpoints are set between the first work area and the second work area, and the first work area and the second work area are respectively provided with a first rest area. When the scheduling system receives the transport task corresponding to the first work area, it detects whether there is an idle robot staying in the first rest area matched by the first work area. If so, the first path cost of the idle robot from the first rest area matched by the first work area to the task starting point corresponding to the transport task in the first work area is calculated as the first deployment cost. If not, the idle robot is deployed from the first rest area matched by the second work area to the task starting point corresponding to the transport task in the first work area, and the first path cost of the idle robot from the first rest area matched by the second work area to the task starting point corresponding to the transport task in the first work area is calculated, and the passage cost of passing the checkpoint between the first work area and the second work area is used as the first deployment cost.

[0021] Optionally, checkpoints include access control, elevators, hoists, and traffic intersections.

[0022] It should be noted that the path cost is the time it takes for the transport robot to reach the task starting point of the transport area corresponding to the transport task from the current position, and the passage cost is the time it takes to pass the level.

[0023] In another application method, the idle robot is provided with a second rest area, and a checkpoint is set between the second rest area and the transport area. In response to an idle robot staying in the second rest area, the first path cost and the pass cost are calculated, and the first path cost and the pass cost are determined as the first deployment cost.

[0024] In one application scenario, the idle robot is only provided with a second rest area, which is the staying area for all idle robots, and checkpoints are set between the second rest area and multiple transport areas. When the scheduling system detects that there is an idle robot staying in the second rest area, the first path cost of the idle robot from the second rest area to the task starting point of the transport area corresponding to the transport task, as well as the pass cost of passing the checkpoint between the second rest area and the transport area are calculated, which is the first deployment cost.

[0025] In a specific application scenario, there are two handling areas and one second rest area, which are marked as the first working area and the second working area respectively. Both the first working area and the second working area have multiple task starting points and task end points, and checkpoints are set between the two handling areas and between the handling area and the second rest area. When the scheduling system receives the handling task corresponding to the first working area, it detects whether there are idle robots staying in the second rest area. If so, it calculates the first path cost of the idle robot from the second rest area to the task starting point corresponding to the handling task in the first working area, as well as the pass cost of passing the checkpoint between the second rest area and the first working area, as the first deployment cost.

[0026] In another application method, the idle robot is provided with a matching first rest area, each transporting area is matched with a first rest area, the first rest area matched by the transporting area corresponding to the transporting task corresponds to the rest area to be queried, the idle robot is also provided with a second rest area, and a checkpoint is set between the second rest area and the transporting area, in response to an idle robot staying in the rest area to be queried, the first path cost is calculated, and the first path cost is determined as the first deployment cost; in response to no idle robot staying in the rest area to be queried, the first path cost and the pass cost are calculated, and the first path cost and the pass cost are determined as the first deployment cost, and in response to an idle robot staying in the second rest area, the first path cost and the pass cost are calculated, and the first path cost and the pass cost are determined as the first deployment cost.

[0027] In one application scenario, the idle robot is provided with both a first rest area and a second rest area. After receiving the handling task, the scheduling system sets the first rest area matching the handling area corresponding to the handling task as the rest area to be queried, and detects whether there is an idle robot staying in the rest area to be queried. When there is an idle robot staying in the rest area to be queried, the first path cost of the idle robot from the rest area to be queried to the task starting point of the handling area is calculated, which is the first deployment cost; when there is no idle robot staying in the rest area to be queried, the first deployment cost of the idle robot in the first rest area which is different from the rest area to be queried is calculated, and the first deployment cost of the idle robot in the second rest area is calculated.

[0028] In a specific application scenario, there are two handling areas and one second rest area, which are marked as the first working area and the second working area respectively. The first working area and the second working area both have multiple task starting points and task end points, and checkpoints are set between the two handling areas and between the handling area and the second rest area. The first working area and the second working area are respectively provided with a first rest area. When the scheduling system receives the handling task corresponding to the first working area, since it takes a long time to pass the checkpoint, the scheduling system will give priority to detecting whether there is an idle robot staying in the first rest area matched with the first working area. If so, the first path cost of the idle robot from the first rest area matched with the first working area to the task starting point corresponding to the handling task in the first working area is calculated as the first deployment cost. If not, the first rest area matched with the second working area and the second rest area are respectively detected to see whether there are idle robots staying. If so, the corresponding first path cost and passage cost are calculated as the first deployment cost.

[0029] S102: In response to the fact that the transport area includes at least one working robot that is performing a current task, a second deployment cost of the working robot is calculated; wherein the second deployment cost includes the time required for the working robot to complete the current task and a second path cost of moving from the task end point corresponding to the current task to the task starting point corresponding to the transport task.

[0030] Specifically, when the transporting area includes at least one working robot that is performing a current task, the time required for the working robot to complete the current task is calculated, and the second path cost of the working robot moving from the task end point corresponding to the current task to the task starting point corresponding to the transporting task is calculated as the second deployment cost.

[0031] Optionally, when the working robot is performing the current task at the task end point of the transporting area, the time required to complete the current task is the time required to complete the transporting work; when the working robot is on the way to the task end point of the transporting area, the time required to complete the current task includes not only the time required to complete the transporting work, but also the time required to travel to the task end point of the transporting area.

[0032] S103: Based on the first allocation cost and the second allocation cost, allocate a corresponding target robot for the handling task.

[0033] Specifically, the scheduling system allocates the corresponding target robot for the handling task according to the size of the first deployment cost and the second deployment cost. When the first deployment cost is less than the second deployment cost, the idle robot is used as the target robot, otherwise the working robot is used as the target robot, thereby improving the execution efficiency of the handling task.

[0034] The above scheme, in response to receiving a handling task and at least one idle robot, calculates the first deployment cost of the idle robot; wherein the handling task corresponds to a handling area, the handling area includes multiple task starting points and task end points, each handling task corresponds to a task starting point and a task end point, the first deployment cost includes the first path cost of the idle robot moving from the current position to the task starting point corresponding to the handling task, and the estimated passage cost when passing the checkpoint; wherein the checkpoint is at least set between adjacent handling areas; in response to the handling area including at least one working robot currently executing the current task, calculates the second deployment cost of the working robot; wherein the second deployment cost includes the time required for the working robot to complete the current task and the second path cost of moving from the task end point corresponding to the current task to the task starting point corresponding to the handling task; based on the first deployment cost and the second deployment cost, the corresponding target robot is deployed for the handling task. By adding the working robot currently executing the current task as the target robot when deploying the handling task, the alternative range of the target robot is expanded, the probability of the robot running without load is reduced, and the utilization rate of the robot is improved, thereby improving the execution efficiency of the handling task.

[0035] In one embodiment, after step S103, it also includes: in response to the target robot moving from the first rest area different from the rest area to be queried to the checkpoint, there is an idle robot that is re-included in the schedule staying in the handling area corresponding to the handling task, calculating the third deployment cost of the target robot; wherein the third deployment cost includes the third path cost and the passage cost of the target robot moving from the current position to the task starting point corresponding to the handling task; calculating the fourth deployment cost of the idle robot that is re-included in the schedule; wherein the fourth deployment cost includes the fourth path cost of the idle robot that is re-included in the schedule moving from the current position to the task starting point corresponding to the handling task and the fifth path cost of the target robot moving from the current position to the first rest area different from the rest area to be queried; in response to the third deployment cost being greater than the fourth deployment cost, deploying the handling task to the idle robot that is re-included in the schedule.

[0036] Specifically, when the target robot moves from the first rest area different from the rest area to be queried to the checkpoint, the scheduling system detects that an idle robot that has been re-included in the schedule is staying in the transporting area corresponding to the transporting task, and calculates the third path cost of the target robot moving from the current position to the task starting point corresponding to the transporting task and the pass cost of passing the checkpoint as the third deployment cost, and calculates the fourth path cost of the idle robot that has been re-included in the schedule moving from the current position to the task starting point corresponding to the transporting task and the fifth path cost of the target robot returning from the current position to the first rest area different from the rest area to be queried as the fourth deployment cost. When the third deployment cost is greater than the fourth deployment cost, the scheduling system deploys the transporting task to the idle robot that has been re-included in the schedule.

[0037] Optionally, the idle robot that is re-included in the scheduling may be a handling robot that comes back online to the scheduling system after a failure, or a handling robot that rejoins the scheduling system after completing a specified manual mode operation. This application does not impose any specific restrictions on this.

[0038] In another embodiment, after step S103, it also includes: in response to the target robot moving from the second rest area to the checkpoint, an idle robot that is re-included in the schedule stays in the transporting area corresponding to the transporting task, calculating the fifth deployment cost of the target robot; wherein the fifth deployment cost includes the sixth path cost and the passage cost of the target robot moving from the current position to the task starting point corresponding to the transporting task; calculating the sixth deployment cost of the idle robot that is re-included in the schedule; wherein the sixth deployment cost includes the seventh path cost of the idle robot that is re-included in the schedule moving from the current position to the task starting point corresponding to the transporting task and the eighth path cost of the target robot moving from the current position to the second rest area; in response to the fifth deployment cost being greater than the sixth deployment cost, deploying the transporting task to the idle robot that is re-included in the schedule.

[0039] Specifically, when the target robot moves from the second rest area to the checkpoint, the scheduling system detects that an idle robot that has been re-included in the schedule is staying in the transporting area corresponding to the transporting task, and calculates the sixth path cost of the target robot moving from the current position to the task starting point corresponding to the transporting task and the pass cost of passing the checkpoint as the fifth deployment cost, and calculates the seventh path cost of the idle robot that has been re-included in the schedule moving from the current position to the task starting point corresponding to the transporting task and the eighth path cost of the target robot returning from the current position to the second rest area as the sixth deployment cost. When the fifth deployment cost is greater than the sixth deployment cost, the scheduling system deploys the transporting task to the idle robot that has been re-included in the schedule.

[0040] It is understandable that since the checkpoint takes a very long time, even for the target robot that has been assigned a handling task, as long as it is still in the state of moving with an empty load, this handling task can support a re-scheduled idle robot in the handling area corresponding to a handling task with a closer path and no time-consuming checkpoint to perform the handling task. Such flexible processing can ensure that when the long-distance target robot encounters an emergency situation, such as congestion or obstacles, the handling task can be started in time in the shortest time, thereby further improving the execution efficiency of the handling task.

[0041] In one embodiment, the level includes a starting point and an end point, and the calculation process of the pass cost of the level includes: obtaining a first timestamp when the robot passes the starting point of the checkpoint, and obtaining a second timestamp when the robot passes the end point of the checkpoint; based on the first timestamp and the second timestamp, obtaining the time to be calculated and storing the time to be calculated in a storage pool; based on multiple times to be calculated, obtaining the pass cost.

[0042] Specifically, when the robot passes the starting point of the checkpoint, the scheduling system records the current time, which is the first timestamp. When the robot passes the end point of the checkpoint, the scheduling system records the current time, which is the second timestamp. According to the difference between the first timestamp and the second timestamp, the time to be calculated is obtained, and the time to be calculated is stored in the storage pool. According to multiple times to be calculated, the pass cost is obtained.

[0043] In one implementation scenario, there are multiple types of robots, and a storage pool is provided with multiple storage spaces corresponding to the types; the step of storing the time to be calculated in the storage pool specifically includes: storing the time to be calculated in the corresponding storage space based on the type.

[0044] Specifically, there are multiple types of robots, and a plurality of storage spaces corresponding to the types of robots are provided in the storage pool. The scheduling system stores the obtained multiple times to be calculated in the corresponding storage spaces respectively.

[0045] Furthermore, the step of obtaining the travel cost based on the multiple times to be calculated specifically includes: obtaining the travel costs corresponding to the same type of robots based on the multiple times to be calculated corresponding to the same type.

[0046] Specifically, the corresponding travel costs are calculated according to a plurality of to-be-calculated times corresponding to robots of the same type.

[0047] In a specific implementation scenario, the first-in-first-out algorithm is used to calculate the average of multiple times to be calculated, so that the pass cost can be quickly and conveniently obtained. In other implementation scenarios, other algorithms can also be used to calculate the pass cost, and this application does not make specific restrictions on this.

[0048] It can be understood that the calculation process of the path cost is the distance from the robot's current position to the starting point of the transport area divided by the robot's moving speed, where the moving speed is a pre-configured speed and the time required for the robot to accelerate from a standstill to the moving speed can be ignored.

[0049] In one implementation scenario, the task time of the working robot can be pre-configured; or, the task time calculation process includes: recording the completion time of multiple working robots, and obtaining the task time based on multiple completion times; wherein, the handling task at least includes the operations of warehousing and putting down the goods, and the completion time at least includes the matching warehousing time, the operation time of putting down the goods, and the posture adjustment time; wherein, the posture adjustment time is the time required to adjust the posture of the working robot after the working robot reaches the end point of the handling area.

[0050] Specifically, the robot's handling tasks include operations such as warehousing, putting down goods, and adjusting the position of goods. The completion time includes the corresponding warehousing time, operation time for putting down goods, operation time for adjusting the position of goods, and the posture adjustment time required for the working robot to adjust the posture after reaching the end of the handling area. The task time of the working robot can be pre-configured as a fixed value, such as 1 minute, 2 minutes, etc., or the scheduling system will record the completion time of multiple working robots and calculate the task time.

[0051] In a specific implementation scenario, the average of multiple completion times is calculated using a first-in-first-out algorithm, so that the task time can be obtained quickly and conveniently. In other implementation scenarios, other algorithms can also be used to calculate the task time, and this application does not make specific restrictions on this.

[0052] It should be noted that if there are abnormal values ​​in the completion time recorded by the scheduling system that are significantly higher than the average value, the abnormal values ​​will be eliminated to ensure the accuracy of the calculated task time.

[0053] See also Figure 2 , Figure 21 is a schematic diagram of the structure of an embodiment of an electronic device of the present application, wherein the electronic device 20 comprises a memory 201 and a processor 202 coupled to each other, wherein the memory 201 stores program data (not shown), and the processor 202 calls the program data to implement the method in any of the above embodiments, and the description of the relevant contents can be found in the detailed description of the above method embodiments, which will not be repeated here. Specifically, the electronic device 20 includes but is not limited to: a desktop computer, a laptop computer, a tablet computer, a server, etc., which are not limited here. In addition, the processor 202 can also be referred to as a CPU (Center Processing Unit). The processor 202 may be an integrated circuit chip with signal processing capabilities. The processor 202 may also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. In addition, the processor 202 may be implemented by an integrated circuit chip.

[0054] See also Figure 3 , Figure 3 It is a structural diagram of an implementation method of a computer-readable storage medium of the present application. The computer-readable storage medium 30 stores program data 300. When the program data 300 is executed by a processor, the method in any of the above embodiments is implemented. For an explanation of the relevant content, please refer to the detailed description of the above method embodiments, which will not be repeated here.

[0055] It should be noted that the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present implementation scheme.

[0056] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0057] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0058] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for allocating a handling task, characterized in that: include: In response to receiving the transport task and at least one idle robot, a first deployment cost of the idle robot is calculated; wherein the transport task corresponds to a transport area, the transport area includes a plurality of task starting points and a task end point, each of the transport tasks corresponds to one task starting point and one task end point, and the first deployment cost includes a first path cost of the idle robot moving from a current position to the task starting point corresponding to the transport task, and an estimated travel cost when a checkpoint needs to be passed; wherein the checkpoint is at least set between adjacent transport areas; In response to the transport area including at least one working robot that is performing a current task, a second deployment cost of the working robot is calculated; wherein the second deployment cost includes the time required for the working robot to complete the current task and a second path cost for moving from the task end point corresponding to the current task to the task starting point corresponding to the transport task; Based on the first deployment cost and the second deployment cost, a corresponding target robot is deployed for the transport task.

2. The method according to claim 1, characterized in that The idle robot is provided with a matching first rest area, each of the transport areas is matched with the first rest area, and the first rest area matched with the transport area corresponding to the transport task corresponds to the rest area to be queried; In response to receiving the handling task and at least one idle robot, calculating a first deployment cost of the idle robot includes: In response to the idle robot staying in the rest area to be queried, calculating the first path cost, and determining the first path cost as a first deployment cost; In response to the idle robot not staying in the rest area to be queried, the first path cost and the passage cost are calculated, and the first path cost and the passage cost are determined as the first deployment cost.

3. The method according to claim 1 or 2, characterized in that: The idle robot is provided with a second rest area, and the checkpoint is provided between the second rest area and the transport area; In response to receiving the handling task and at least one idle robot, calculating a first deployment cost of the idle robot includes: In response to the idle robot staying in the second rest area, the first path cost and the passage cost are calculated, and the first path cost and the passage cost are determined as the first deployment cost.

4. The method according to claim 2, characterized in that: After allocating the corresponding target robot for the handling task based on the first allocation cost and the second allocation cost, the method further includes: In response to the idle robot that is re-incorporated into the schedule staying in the transport area corresponding to the transport task while the target robot is moving from the first rest area different from the rest area to be queried to the checkpoint, a third deployment cost of the target robot is calculated; wherein the third deployment cost includes a third path cost of the target robot moving from the current position to the task starting point corresponding to the transport task and the passage cost; Calculate the fourth deployment cost of the idle robot that is re-included in the schedule; wherein the fourth deployment cost includes a fourth path cost of the idle robot that is re-included in the schedule moving from the current position to the task starting point corresponding to the handling task and a fifth path cost of the target robot moving from the current position to a first rest area different from the rest area to be queried; In response to the third deployment cost being greater than the fourth deployment cost, the transport task is deployed to the idle robot that is re-included in the scheduling.

5. The method according to claim 3, characterized in that: After allocating the corresponding target robot for the handling task based on the first allocation cost and the second allocation cost, the method further includes: In response to the idle robot that is re-incorporated into the schedule staying in the transport area corresponding to the transport task while the target robot is moving from the second rest area to the checkpoint, a fifth deployment cost of the target robot is calculated; wherein the fifth deployment cost includes a sixth path cost of the target robot moving from a current position to the task starting point corresponding to the transport task and the passage cost; Calculate the sixth deployment cost of the idle robot that is re-included in the schedule; wherein the sixth deployment cost includes the seventh path cost of the idle robot that is re-included in the schedule moving from the current position to the task starting point corresponding to the handling task and the eighth path cost of the target robot moving from the current position to the second rest area; In response to the fifth deployment cost being greater than the sixth deployment cost, the transport task is deployed to the idle robot that is re-included in the scheduling.

6. The method according to claim 1, characterized in that The checkpoint includes a starting point and an end point, and the calculation process of the pass cost of the checkpoint includes: Obtaining a first timestamp of the robot passing through the starting point of the level, and obtaining a second timestamp of the robot passing through the end point of the level; Based on the first timestamp and the second timestamp, obtaining a time to be calculated and storing the time to be calculated in a storage pool; The travel cost is obtained based on the multiple times to be calculated.

7. The method according to claim 6, characterized in that There are multiple types of robots, and the storage pool is provided with multiple storage spaces corresponding to the types; The storing the to-be-calculated time into a storage pool includes: Storing the time to be calculated into the corresponding storage space based on the type; The obtaining of the travel cost based on the plurality of times to be calculated includes: Based on the multiple to-be-calculated times corresponding to the same type, the travel costs corresponding to robots of the same type are obtained.

8. The method according to claim 1, characterized in that The task time of the working robot can be preconfigured; Or the calculation process of the task time includes: The completion time of multiple working robots is recorded, and the task time is obtained based on the multiple completion times; wherein, the handling task at least includes the operations of warehousing and putting down the goods, and the completion time at least includes the matching warehousing time, the operation time of putting down the goods, and the posture adjustment time; wherein, the posture adjustment time is the time required to adjust the posture of the working robot after the working robot reaches the end point of the handling area.

9. An electronic device, characterized in that: The method comprises a memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: Program instructions that can be executed by a processor are stored, and the program instructions are used to implement the method described in any one of claims 1 to 8.

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