Robot cross-floor scheduling method and system

Abstract

The embodiment of the invention discloses a robot cross-floor scheduling method and system. The method comprises the steps that scheduling information is added through a scheduling system background, and the scheduling information comprises point location, path and action information; based on the starting point and the target point of the robot, automatically generating a running path and distributing the running path to the robot; according to the real-time task state and the real-time working state of the elevator, the running path is adjusted in real time in combination with the real-time action information of the robot, and the robot is controlled to run; reasonable allocation of the elevators to the robots is realized, the problem of avoiding blockage when a plurality of robots take the elevators in the same elevator room is solved, and the distribution efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robot control technology, and in particular, to a robot cross-floor scheduling method and system. Background Art

[0002] In recent years, with the rapid development of artificial intelligence, more and more intelligent robots have been applied to various fields, thus helping enterprises solve labor shortages, dangerous and repetitive work in specific environments. In actual applications, there are more and more scenarios of multi-robot cross-floor delivery, and the use of elevators has reached a peak. How to solve the problem of multiple robots being able to take the elevator efficiently in a narrow elevator room and avoid congestion in the elevator room has become an urgent problem to be solved. At present, the common practice of most systems is that the dispatching system generates a fixed route, and the robot directly reaches the elevator entrance according to the route to call the elevator and take the elevator to the designated floor, or simply allocates available elevators to the robot according to the elevator task status, without comprehensively considering the up and down status of the elevator and the current task of the elevator. Summary of the invention

[0003] The embodiments of the present application provide a robot cross-floor scheduling method and system to achieve reasonable allocation of elevators to robots, solve the problem of avoiding congestion when multiple robots are riding in the same elevator, and improve delivery efficiency.

[0004] In a first aspect, an embodiment of the present application provides a robot cross-floor scheduling method, the method comprising the following steps:

[0005] Add scheduling information through the scheduling system background, where the scheduling information includes point location, path and action information;

[0006] Based on the robot's starting point and target point, the running path is automatically generated and distributed to the robot;

[0007] According to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate.

[0008] Furthermore, the real-time adjustment of the operation path and the control of the robot to operate according to the real-time task status and the real-time working status of the elevator in combination with the real-time action information of the robot include:

[0009] Detect that the robot runs to a waypoint outside the elevator area, and receive the elevator permission request sent to the dispatching system based on the action information after the robot arrives at the point;

[0010] The dispatch system determines the occupancy status of the specific elevator area and all stops in the current elevator area based on the map ID, point ID, and point type information requested by the current robot;

[0011] If there is an available stop, the dispatch system obtains the up and down status of all elevators in the elevator area, the elevator task status, and the arrival floor in the task in real time;

[0012] Modify the parameters in the genetic algorithm in real time, where the parameters include: encoding mode, fitness function operator, population size and set number of iterations, output the elevator stop point to be allocated to the robot, and set the elevator stop point to be occupied accordingly;

[0013] When the robot receives the stop point information, it modifies the corresponding elevator stop point coordinates in the path, controls the robot to run to the specified elevator stop point and calls the elevator.

[0014] Furthermore, the real-time modification of the parameters in the genetic algorithm and the output of the elevator stop points to be allocated to the robot include:

[0015] Extract chromosome parameters according to the algorithm, wherein the chromosome parameters include: elevator stop occupancy, elevator riding mission, elevator running direction, and the difference between the current floor and the departure floor;

[0016] Different weights are assigned to the above parameters according to the actual status;

[0017] When receiving the robot's permission allocation request, the dispatching system performs different gene encodings according to the number of elevators in the elevator shaft, the number of floors, and the parameter status to generate several initial population individuals;

[0018] Generate a preliminary fitness function through the elevator stop occupancy parameters and the elevator riding task parameters;

[0019] After evaluating the individuals, preliminary screening is performed to generate the required ontology samples;

[0020] Through single-point crossover and basic bit mutation, the ontology gene samples are cross-mutated to generate more individuals;

[0021] The individuals and the entity evaluate the target fitness function again to generate the next generation of individual samples, and the cycle continues until the evaluation criteria are met or the number of iterations is reached. The elevator stop point is assigned to the robot through the evaluation output.

[0022] Furthermore, it also includes:

[0023] After detecting that the elevator has reached the departure floor and opened the door, the robot is controlled to automatically run to the calibration point inside the elevator, control the elevator to close the door and go to the target floor, and release the occupancy status of the departure floor stop.

[0024] Furthermore, it also includes:

[0025] Control the robot to switch the target floor map in the elevator. When the elevator reaches the target floor and opens the door, control the robot to automatically exit the elevator.

[0026] Control the elevator door to close and end the elevator ride task, releasing the elevator occupancy status.

[0027] Furthermore, it also includes:

[0028] The status of each sensor is detected in real time through the elevator control mainboard and uploaded to the scheduling background.

[0029] Furthermore, the real-time detection of the status of each sensor by the elevator control mainboard and uploading to the scheduling backend includes:

[0030] Floor identification is performed through the RFID tags on each floor of the elevator shaft and the RFID reader installed on the top of the car; the RFID tags store floor information;

[0031] When the elevator is running, the dual-path photoelectric installed on the top of the car is detected when it passes through the grid plate in sequence, and the order of photoelectric triggering is judged to perform up and down detection and judgment;

[0032] The door opening and closing status is detected through the Hall sensor installed in the car and the magnet installed on the car door.

[0033] In a second aspect, an embodiment of the present application further provides a robot cross-floor dispatching system, comprising: a dispatching system and a robot;

[0034] The scheduling system is used to add scheduling information in the background, wherein the scheduling information includes point position, path and action information; based on the starting point and target point of the robot, the operation path is automatically generated and distributed to the robot; according to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate.

[0035] In a third aspect, an embodiment of the present application further provides a computer device, including: a memory and one or more processors;

[0036] The memory is used to store one or more programs;

[0037] When the one or more programs are executed by the one or more processors, the one or more processors implement a robot cross-floor scheduling method as described above.

[0038] In a fourth aspect, an embodiment of the present application further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute a robot cross-floor scheduling method as described above.

[0039] The embodiment of the present application adds scheduling information through the background of the scheduling system, wherein the scheduling information includes point positions, paths, and action information; based on the starting point and target point of the robot, the operation path is automatically generated and distributed to the robot; according to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate; the elevator is reasonably allocated to the robot, the problem of avoiding congestion when multiple robots take the elevator in the same elevator is solved, and the distribution efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flow chart of a robot cross-floor scheduling method provided by an embodiment of the present application;

[0041] Figure 2 It is a structural schematic diagram of a robot cross-floor dispatching system provided in an embodiment of the present application;

[0042] Figure 3 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0044] The embodiment of the present application establishes a set of robot cross-floor scheduling methods to achieve the reasonable allocation of elevators to robots, solve the problem of avoiding congestion when multiple robots are riding in the same elevator, and improve delivery efficiency.

[0045] The robot cross-floor scheduling method provided in the embodiment can be executed by a robot cross-floor scheduling system, which can be implemented by software and / or hardware and integrated in a robot cross-floor scheduling device. The robot cross-floor scheduling device can be a computer or other device.

[0046] Figure 1A flowchart of a robot cross-floor scheduling method provided in an embodiment of the present application. Figure 1 , the method comprises the following steps:

[0047] Step 100: Add scheduling information through the scheduling system background, wherein the scheduling information includes point location, path and action information.

[0048] Step 200: Based on the starting point and target point of the robot, a running path is automatically generated and distributed to the robot.

[0049] It can be understood that the coordinates of the elevator stop points in the path are default information at this time.

[0050] Step 300: According to the real-time task status and real-time working status of the elevator and in combination with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate.

[0051] Optionally, adjusting the operation path in real time and controlling the robot to operate according to the real-time task status and real-time working status of the elevator in combination with the real-time action information of the robot, includes:

[0052] 310. Detect that the robot runs to a waypoint outside the elevator area, and receive an elevator authority request sent by the robot to the dispatching system according to the action information after the robot arrives at the point.

[0053] 320. The dispatching system determines the occupancy status of the specific elevator area and all the stops in the current elevator area according to the map ID, point ID, and point type information requested by the current robot.

[0054] 330. If there is an available stop, the dispatching system obtains the up and down status of all elevators in the elevator area, the elevator task status, and the arrival floor in the task in real time.

[0055] 340. Modify the parameters in the genetic algorithm in real time, wherein the parameters include: encoding method, fitness function operator, population size and set number of iterations, output the elevator stop point to be allocated to the robot, and set the elevator stop point to be occupied accordingly.

[0056] 350. When the robot receives the stop point information, it modifies the coordinates of the corresponding elevator stop point in the path, controls the robot to run to the specified elevator stop point and calls the elevator.

[0057] On the basis of the above-mentioned embodiment, the robot cross-floor scheduling method of the embodiment of the present application can also be embodied as follows: the real-time modification of the parameters in the genetic algorithm and the output of the elevator stop point allocation to the robot include:

[0058] 341. Extract chromosome parameters according to the algorithm, wherein the chromosome parameters include: elevator stop occupancy, elevator riding mission, elevator running direction, and the difference between the current floor and the departure floor.

[0059] 342. Assign different weights to the above parameters according to the actual status.

[0060] 343. When receiving the robot's permission allocation request, the dispatching system performs different genetic encoding according to the number of elevators in the elevator shaft, the number of floors, and the parameter status to generate a number of initialized population individuals.

[0061] 344. Generate a preliminary fitness function through the elevator stop occupancy parameters and the elevator riding task parameters;

[0062] 345. After evaluating the individuals, preliminary screening is performed to generate the required ontology samples.

[0063] 346. Through single-point crossover and basic bit mutation, the ontology gene samples are cross-mutated to generate more individuals.

[0064] 347. The individual and the main body evaluate the target fitness function again to generate the next generation of individual samples, and cycle in sequence until the evaluation criteria are met or the number of iterations is reached. The elevator stop point is assigned to the robot through the evaluation output.

[0065] On the basis of the above embodiment, the robot cross-floor scheduling method of the embodiment of the present application can also be embodied as follows:

[0066] 348. After detecting that the elevator has reached the departure floor and opened the door, the robot is controlled to automatically run to the calibration point in the elevator, the elevator is controlled to close the door and go to the target floor, and the departure floor stop is cleared of occupation.

[0067] On the basis of the above embodiment, the robot cross-floor scheduling method of the embodiment of the present application can also be embodied as follows:

[0068] Control the robot to switch the target floor map in the elevator. When the elevator reaches the target floor and opens the door, control the robot to automatically exit the elevator. Control the elevator to close the door and end the elevator mission, releasing the elevator occupancy status.

[0069] On the basis of the above embodiment, the robot cross-floor scheduling method of the embodiment of the present application can also be embodied as follows:

[0070] The status of each sensor is detected in real time through the elevator control mainboard and uploaded to the scheduling background.

[0071] Optionally, floor identification is performed through the RFID tags on each floor of the grating in the elevator shaft and the RFID reader installed on the top of the car; the RFID tags store the floor information; when the elevator is running, the dual-path photoelectric installed on the top of the car passes through the grating plate in sequence for detection, and the order of photoelectric triggering is judged to perform up and down detection and judgment; the door opening and closing status is detected through the Hall sensor installed in the car and the magnet installed on the car door.

[0072] As described above, the embodiment of the present application adds scheduling information through the background of the scheduling system, wherein the scheduling information includes point positions, paths, and action information; based on the starting point and target point of the robot, the operation path is automatically generated and distributed to the robot; according to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate; the elevator is reasonably allocated to the robot, the problem of avoiding congestion when multiple robots are riding in the same elevator is solved, and the delivery efficiency is improved.

[0073] Specifically, the genetic algorithm is used to optimize elevator scheduling, and the best elevator scheduling solution is found by simulating natural selection and genetic mechanisms. This method is suitable for complex systems and can handle multi-objective optimization problems to solve the problem of multi-robot multi-elevator allocation. By extracting multiple variables such as the current state of each robot, the up and down state of each elevator, the elevator task, and the state of the elevator area, the influencing factors in the algorithm are modified in real time, so that the system can more reasonably allocate elevators to robots. This algorithm can effectively solve the problem of avoiding congestion when multiple robots are riding in the same elevator and improve distribution efficiency.

[0074] Based on the above examples, please refer to Figure 2 , an embodiment of the present application provides a robot cross-floor dispatching system, the robot cross-floor dispatching system specifically includes: a dispatching system and a robot;

[0075] The scheduling system is used to add scheduling information in the background, wherein the scheduling information includes point position, path and action information; based on the starting point and target point of the robot, the operation path is automatically generated and distributed to the robot; according to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate.

[0076] As described above, the embodiment of the present application adds scheduling information through the background of the scheduling system, wherein the scheduling information includes point positions, paths, and action information; based on the starting point and target point of the robot, the operation path is automatically generated and distributed to the robot; according to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate; the elevator is reasonably allocated to the robot, the problem of avoiding congestion when multiple robots are riding in the same elevator is solved, and the delivery efficiency is improved.

[0077] The robot cross-floor scheduling system provided in the embodiment of the present application can be used to execute the robot cross-floor scheduling method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0078] The embodiment of the present application also provides a computer device, which can integrate the robot cross-floor scheduling system provided by the embodiment of the present application. Figure 3 Schematic diagram of a computer device provided in an embodiment of the present application. Figure 3 The computer device includes: an input device 33, an output device 34, a memory 32 and one or more processors 31; the memory 32 is used to store one or more programs; when the one or more programs are executed by the one or more processors 31, the one or more processors 31 implement the robot cross-floor scheduling method provided in the above embodiment. The input device 33, the output device 34, the memory 32 and the processor 31 can be connected by a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0079] The processor 31 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 32, that is, realizes the above-mentioned robot cross-floor scheduling method.

[0080] The computer device provided above can be used to execute the robot cross-floor scheduling method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0081] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a robot cross-floor scheduling method, the robot cross-floor scheduling method comprising: adding scheduling information through the scheduling system background, wherein the scheduling information includes point positions, paths, and action information; based on the starting point and target point of the robot, automatically generating an operation path and distributing it to the robot; according to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, adjusting the operation path in real time, and controlling the robot to operate.

[0082] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape devices; computer device memory or random access memory, such as DRAM, DDRRAM, SRAM, EDORAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer device in which the program is executed, or may be located in a different second computer device, which is connected to the first computer device via a network (such as the Internet). The second computer device can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations (for example, in different computer devices connected via a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0083] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the robot cross-floor scheduling method described above, can also execute related operations in the robot cross-floor scheduling method provided in any embodiment of the present application.

[0084] The robot cross-floor scheduling system, storage medium and computer device provided in the above embodiments can execute the robot cross-floor scheduling method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the robot cross-floor scheduling method provided in any embodiment of the present application.

[0085] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A robot cross-floor scheduling method, characterized in that: The method comprises the following steps: Add scheduling information through the scheduling system background, where the scheduling information includes point location, path and action information; Based on the robot's starting point and target point, the running path is automatically generated and distributed to the robot; According to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate.

2. The robot cross-floor scheduling method according to claim 1, characterized in that: The method of adjusting the operation path in real time and controlling the robot to operate according to the real-time task status and real-time working status of the elevator and the real-time action information of the robot includes: Detect that the robot runs to a waypoint outside the elevator area, and receive the elevator permission request sent to the dispatching system based on the action information after the robot arrives at the point; The dispatch system determines the occupancy status of the specific elevator area and all stops in the current elevator area based on the map ID, point ID, and point type information requested by the current robot; If there is an available stop, the dispatch system obtains the up and down status of all elevators in the elevator area, the elevator task status, and the arrival floor in the task in real time; Modify the parameters in the genetic algorithm in real time, where the parameters include: encoding mode, fitness function operator, population size and set number of iterations, output the elevator stop point to be allocated to the robot, and set the elevator stop point to be occupied accordingly; When the robot receives the stop point information, it modifies the corresponding elevator stop point coordinates in the path, controls the robot to run to the specified elevator stop point and calls the elevator.

3. The robot cross-floor scheduling method according to claim 2, characterized in that: The real-time modification of the parameters in the genetic algorithm and the output of the elevator stop points to be allocated to the robot include: Extract chromosome parameters according to the algorithm, wherein the chromosome parameters include: elevator stop occupancy, elevator riding mission, elevator running direction, and the difference between the current floor and the departure floor; Different weights are assigned to the above parameters according to the actual status; When receiving the robot's permission allocation request, the dispatching system performs different gene encodings according to the number of elevators in the elevator shaft, the number of floors, and the parameter status to generate several initial population individuals; Generate a preliminary fitness function through the elevator stop occupancy parameters and the elevator riding task parameters; After evaluating the individuals, preliminary screening is performed to generate the required ontology samples; Through single-point crossover and basic bit mutation, the ontology gene samples are cross-mutated to generate more individuals; The individuals and the entity evaluate the target fitness function again to generate the next generation of individual samples, and the cycle continues until the evaluation criteria are met or the number of iterations is reached. The elevator stop point is assigned to the robot through the evaluation output.

4. The robot cross-floor scheduling method according to claim 2, characterized in that: Also includes: After detecting that the elevator has reached the departure floor and opened the door, the robot is controlled to automatically run to the calibration point inside the elevator, control the elevator to close the door and go to the target floor, and release the occupancy status of the departure floor stop.

5. The robot cross-floor scheduling method according to claim 4, characterized in that: Also includes: Control the robot to switch the target floor map in the elevator. When the elevator reaches the target floor and opens the door, control the robot to automatically exit the elevator. Control the elevator door to close and end the elevator ride task, releasing the elevator occupancy status.

6. The robot cross-floor scheduling method according to claim 1, characterized in that: Also includes: The status of each sensor is detected in real time through the elevator control mainboard and uploaded to the scheduling background.

7. The robot cross-floor dispatching method according to claim 6, characterized in that: The elevator control mainboard detects the status of each sensor in real time and uploads it to the scheduling background, including: Floor identification is performed through the RFID tags on each floor of the elevator shaft and the RFID reader installed on the top of the car; the RFID tags store floor information; When the elevator is running, the dual-path photoelectric installed on the top of the car is detected when it passes through the grid plate in sequence, and the order of photoelectric triggering is judged to perform up and down detection and judgment; The door opening and closing status is detected through the Hall sensor installed in the car and the magnet installed on the car door.

8. A robot cross-floor dispatching system, characterized in that: include: Dispatch systems and robots; The scheduling system is used to add scheduling information in the background, wherein the scheduling information includes point position, path and action information; based on the starting point and target point of the robot, the operation path is automatically generated and distributed to the robot; according to the real-time task status and real-time working status of the elevator, combined with the real-time action information of the robot, the operation path is adjusted in real time, and the robot is controlled to operate.

9. A computer device, characterized in that: include: memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a robot cross-floor scheduling method as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, are used to execute a robot cross-floor scheduling method as described in any one of claims 1-7.

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