CN105488892A - Method and server for robot queuing management - Google Patents
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Abstract
The invention provides a method and server for robot queuing management. The method includes the steps that a crowding point zone is determined; dispatching instructions are set for robots in the crowding point zone respectively according to passing requests sent by the robots in the crowding point zone and paths of the robots in the crowding point zone; the dispatching instructions are sent to the robots in the crowding point zone respectively so that the robots receiving the dispatching instructions can pass through the crowding point zone according to the dispatching instructions. By analyzing the passing requests of the robots in the crowding point zone and setting the respective dispatching instructions for the robots, it is avoided that the robots cause crowding in the crowding point zone, the speed of the robots in passing through crowding points is increased, and then the overall working efficiency of a robot cluster is improved.
Description
Technical field
The present invention relates to robotics, in particular to a kind of method for robot queuing management and server.
Background technology
At present, along with socioeconomic development, be applied to the large-scale stream of people, the logistics places such as supermarket, airport, station, conference and exhibition center and logistics warehouse more and more widely.Robot is the Integrated Multi-Purpose System that the integration environment perception, route planning, dynamic decision, Behavior-Based control and an alarm module are integrated, and can realize timing, self-service work of flowing.
Realizing in process of the present invention, inventor finds to there is following problem in correlation technique:
In correlation technique, robot cluster carries out in the process of extensive dynamic moving in the venue, if robot cluster have in the venue one must through point, as in the needs short time by this point, situation about easily getting congestion, causes the reduction of whole work efficiency.
Summary of the invention
In view of this, the object of the embodiment of the present invention is to provide a kind of method for robot queuing management and server, avoid robot to get congestion in congestion points region, improve the speed of robot by congestion points, and then improve the whole work efficiency of robot cluster.
First aspect, embodiments provides a kind of method for robot queuing management, and wherein, set up the data cube computation of server and multiple robot respectively, described method comprises:
Determine congestion points region;
What send according to each robot in described congestion points region arranges dispatch command by the request each robot be respectively in described congestion points region;
Send dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.
In conjunction with first aspect, embodiments provide the first possible implementation of above-mentioned first aspect, wherein, describedly determine congestion points region, comprising:
Obtain the path of described multiple robot;
Congestion points is determined in path according to described multiple robot;
Congestion points region is determined from the adjacent domain of described congestion points.
In conjunction with first aspect, embodiments provide the implementation that the second of above-mentioned first aspect is possible, wherein, describedly to be comprised by request: the position of robot in described congestion points region.
In conjunction with the implementation that the second of first aspect is possible, embodiments provide the third possible implementation of above-mentioned first aspect, wherein, the described request each robot be respectively in described congestion points region that passes through sent according to each robot in described congestion points region arranges dispatch command, comprising:
According to the time sequencing by request, the described position of described each robot in described congestion points region passing through to ask to comprise of each robot transmission received in described congestion points region, each robot be respectively in described congestion points region arranges dispatch command.
In conjunction with first aspect, the first possible implementation of first aspect and the possible implementation of the second of first aspect, embodiments provide the 4th kind of possible implementation of above-mentioned first aspect, wherein, described dispatch command comprises: the time that robot brings into operation in described congestion points region, and described robot is by the route in described congestion points region and the described robot speed by described congestion points region.
Second aspect, embodiments provides a kind of server for robot queuing management, and wherein, described server sets up the data cube computation with multiple robot, and described server comprises:
Determination module, for determining congestion points region;
Module is set, for what send according to each robot in described congestion points region, dispatch command is set by the request each robot be respectively in described congestion points region;
Sending module, for sending dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.
In conjunction with second aspect, embodiments provide the first possible implementation of above-mentioned second aspect, wherein, described determination module, comprising:
Acquiring unit, for obtaining the path of described multiple robot;
Congestion points determining unit, for determining congestion points according to the path of described multiple robot;
Congestion points area determination unit, for determining congestion points region in the adjacent domain from described congestion points.
In conjunction with second aspect, embodiments provide the implementation that the second of above-mentioned second aspect is possible, wherein, describedly to be comprised by request: the position of robot in described congestion points region.
In conjunction with the implementation that the second of second aspect is possible, embodiments provide the third possible implementation of above-mentioned second aspect, wherein, described module is set, for the time sequencing by request sent according to each robot received in described congestion points region, the described position of described each robot in described congestion points region passing through to ask to comprise, each robot be respectively in described congestion points region arranges dispatch command.
In the method provided in the embodiment of the present invention and server, determine congestion points region; According to each robot be respectively in described congestion points region by the path of each robot asked and in described congestion points region that each robot in described congestion points region sends, dispatch command is set; Send dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.To being analyzed by request of each robot in congestion points region, for each robot arranges respective dispatch command, avoid robot to get congestion in congestion points region, improve the speed of robot by congestion points, and then improve the whole work efficiency of robot cluster.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of method flow diagram for robot queuing management that the embodiment of the present invention provides;
Fig. 2 shows a kind of robot 1 that the embodiment of the present invention provides and robot 2 position view at congestion points region A;
Fig. 3 shows another kind of robot 1 that the embodiment of the present invention provides and robot 2 position view at congestion points region A;
Fig. 4 shows a kind of robot 1 and robot 2 that the embodiment of the present invention provides by congestion points region A route map;
Fig. 5 shows kind that the embodiment of the present invention the provides structural representation for the server of robot queuing management.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Consider in correlation technique, robot cluster carries out in the process of extensive dynamic moving in the venue, easily gets congestion, and causes the reduction of whole work efficiency.Based on this, embodiments provide a kind of method for robot queuing management and server.Be described below by embodiment.
Embodiment 1
See Fig. 1, embodiments provide a kind of method for robot queuing management.The method specifically comprises the following steps:
Step 101, determine congestion points region;
In the embodiment of the present invention, multiple robots in server and place establish data cube computation, and then obtain the path of described multiple robot, and the path of described multiple robot is analyzed, determine that the place that in path, the frequency of occurrences is higher is congestion points, congestion points region is determined from the adjacent domain of described congestion points, wherein, congestion points region is different from and is formed a line by robot, the robot being introduced into congestion points region comes the queue area of foremost, but robot is scattered in each position in congestion points region.
Step 102, send according to each robot in described congestion points region by the request each robot be respectively in described congestion points region, dispatch command is set.
Wherein, describedly to be included but not limited to by request: the position of robot in described congestion points region.Each robot enters into congestion points region, capital is triggered and sends by request to server, the time sequencing by request that described server sends according to each robot received in described congestion points region, the described position of described each robot in described congestion points region passing through to ask to comprise, each robot be respectively in described congestion points region arranges dispatch command.
Concrete, for the robot in congestion points region arranges dispatch command, need to consider following factor:
(1) robot sends the time sequencing by request;
The effective restriction of each request that robot sends, what send in order to avoid robot passes through request response timeout, avoid the robot preferentially arriving congestion points region can not preferentially by congestion points region, server is robot when arranging dispatch command, and what need to send according to robot being arranged by the time sequencing of asking.
(2) position of robot in described congestion points region;
Congestion points region is the region of congestion points vicinity, after each robot enters into congestion points region, be scattered in each position in congestion points region, be not form a line, the robot being introduced into congestion points region comes foremost, when certain robot is by the route of congestion points has other robot to stop, then in order to can quickly through congestion points region, dispatch command can be set for the robot stopped, make it preferentially by congestion points region.
Wherein, according to server to the different demand of robot by congestion points region, the adjustment factor (1) that can adapt to, the priority level of (2).Such as, when server enters the higher by the requirement of request timeliness of congestion points region to robot, then the ratio of factor (1) is increased; When server is to entering the lower by the requirement of request timeliness of congestion points region to robot, requires higher to robot by the overall efficiency in congestion points region, then increasing the ratio of factor (2).
It should be noted that, in order to improve the speed of robot by congestion points region, each robot should with the maximum speed of travel by congestion points region, and, consider that the maximum speed of travel of each robot is different, in order to avoid robot blocks up in congestion points region, server should be that each robot arranges dispatch command according to the maximum speed of travel of each robot.
Wherein, dispatch command includes but not limited to: the time that robot brings into operation in described congestion points region, and described robot is by the route in described congestion points region and the described robot speed by described congestion points region.
It should be noted that the mode that dispatch command comprises the time that robot brings into operation in described congestion points region comprises:
A, directly in dispatch command, carry described operation starting time;
B, when arriving the time that described robot brings into operation, sending to described robot and comprising described robot by the route in described congestion points region and the described robot dispatch command by the speed in described congestion points region.
It should be noted that, after entering into congestion points region, robot is in waiting status, when just starting according to dispatch command by congestion points region after reception winter dispatch command difficult to understand.Wherein, because the time of Servers installed dispatch command is very fast, negligible, therefore, the time that robot is in waiting status is not long, can not affect the speed of robot by congestion points region.
Step 103, send dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.
Server is after each robot in described congestion points region is provided with dispatch command, dispatch command for each robot is sent to corresponding robot, robot receives dispatch command, start according to the operation starting time in dispatch command, pass through congestion points region with the route in dispatch command and speed.
In the method provided in the embodiment of the present invention and device, determine congestion points region; According to each robot be respectively in described congestion points region by the path of each robot asked and in described congestion points region that each robot in described congestion points region sends, dispatch command is set; Send dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.To being analyzed by request of each robot in congestion points region, for each robot arranges respective dispatch command, avoid robot to get congestion in congestion points region, improve the speed of robot by congestion points, and then improve the whole work efficiency of robot cluster.
Be described in detail below in conjunction with the method for concrete application scenarios to the robot queuing management that the present embodiment proposes.Wherein, robot 1 is there is in system, 2 and robot queuing management server, robot task execution area A is there is in place, robot charged area B and reception task article region C, conveniently path is set, server is by whole work-yard node, to each peer distribution coordinate (x, y), and the gravity value of congestion points is set to (0, 0), then node radiation towards periphery, distance often increases by 1 coordinate unit, gravity value increases by 1 unit, namely gravity value is the minor increment of coordinate points to true origin, wherein, gravity value=X-coordinate+Y-coordinate.
Server knows that the path of robot 1 is A-B-A, and the path of robot 2 is C-A-C.Server by analysis, is determined that the frequency that all robots all can occur through A, A is the highest, is therefore determined that A is congestion points, from the region that A is contiguous, choose congestion points region.Robot is provided with when entering into congestion points region A, is triggered to server and sends by request.
After robot 1 and robot 2 enter congestion points region A successively, its position at congestion points region A is sent respectively to server, as shown in Figure 2, a kind of robot 1 provided for the present embodiment and robot 2 are at the location drawing of congestion points region A, wherein, the position coordinates of robot 1 is (5,6), and gravity value is 11; The position coordinates of robot 2 is (5,0), and gravity value is 5, and robot 1 exists with robot 2 minimal path do not overlapped, and wherein the path of robot 1 is S1, and the path of robot 2 is S2.
As can be known from Fig. 2, although first robot 1 have sent by request to server, but the gravity value of robot 2 is less, the position of distance congestion points is nearer, if robot 1 is greater than the time T2 of robot 2 by congestion points A by the time T1 of congestion points A, then in order to improve the efficiency of robot by congestion points A, robot 1 and robot 2 select minimal path to pass through congestion points A, do not affect robot 1 by congestion points A while, for robot 2 arranges the dispatch command comprising the operation starting time identical with robot 1, and the path S1 of robot 1 does not overlap with the path S2 of robot 2 in dispatch command, as S1 and the S2 path in Fig. 2, which save robot 2 by the time of path S2 by congestion points A, and then improve robot 1, 2 by the bulk velocity of congestion points A.
If robot 1 is less than the time T2 of robot 2 by congestion points A (because the speed of each robot is different by the time T1 of congestion points A, if the speed of robot 1 is greater than the speed of robot 2, then there will be this situation), then also the dispatch command comprising identical operation starting time can be set for robot 1 and robot 2, like this after robot 1 passes through congestion points A, do not affect the time of robot 2 by congestion points A, and then improve the bulk velocity of robot 1,2 by congestion points A.
If robot 1 equals the time T2 of robot 2 by congestion points A by the time T1 of congestion points A, then when server has requirement to the time sequencing that robot sends by asking, the dispatch command operation starting time that comprise that then can arrange for robot 1 has precedence over the operation starting time that the dispatch command that arranges for robot 2 comprises, and the path S1 of robot 1 does not overlap with the path S2 of robot 2 in dispatch command, such as, for robot 1 arrange dispatch command be " 10:00 according to S1 path with 3 kms/time speed pass through congestion points A ", for robot 2 arrange dispatch command can be " 10:01 according to S2 path with 3.5 kms/time speed pass through congestion points A ".
As shown in Figure 3, the another kind of robot 1 provided for the present embodiment and robot 2 are at the location drawing of congestion points region A, and wherein, the position coordinates of robot 1 is (6,0), and gravity value is 6; The position coordinates of robot 2 is (5,0), and gravity value is 5, and the path of robot 1 is S1, and the path of robot 2 is S2, and robot 2 is on the minimal path of robot 1.
Although first robot 1 have sent by request to server, but robot 2 is nearer apart from the distance of congestion points A, if robot 1 is greater than the time T2 of robot 2 by congestion points A by the time T1 of congestion points A, then in order to improve the efficiency of robot by congestion points A, for robot 1 and robot 2 arrange the dispatch command comprising identical operation starting time, wherein, the path of robot 1 is S1, the path of robot 2 is S2, namely do not affect robot 1 by congestion points A while, save the time of robot 2 by congestion points A, and then improve robot 1, 2 by the bulk velocity of congestion points A.
If robot 1 is less than or equal to the time T2 of robot 2 by congestion points A (because the speed of each robot is different by the time T1 of congestion points A, if the speed of robot 1 is greater than the speed of robot 2, then there will be this situation), then send the time sequencing by request according to robot, the dispatch command operation starting time that comprise that can arrange for robot 1 has precedence over the operation starting time that the dispatch command that arranges for robot 2 comprises, wherein, the path of robot 1 is S1 ', wherein S1 ' is for walking around the path of robot 2 by congestion points A, S1 ' as shown in Figure 4.If arrange dispatch command according to the position of robot in described congestion points region, the operation starting time that comprises of dispatch command then arranged for robot 2 has precedence over the operation starting time that the dispatch command that arranges for robot 1 comprises, and the path of robot 1 is S1, the path of robot 2 is S2, and robot 2 was passed through before robot 1 is by congestion points A.
It should be noted that; Fig. 2 and Fig. 3 is a kind of concrete application scenarios that the present embodiment provides; in practical application; robot cluster is not limited only to Liang Ge robot; as long as the time sequencing by request sent according to each robot received in described congestion points region provided according to the present embodiment, described by asking the position of described each robot in described congestion points region comprised, for each robot in described congestion points region arranges the method for dispatch command all within protection scope of the present invention.
In the method provided in the embodiment of the present invention and server, determine congestion points region; According to each robot be respectively in described congestion points region by the path of each robot asked and in described congestion points region that each robot in described congestion points region sends, dispatch command is set; Send dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.To being analyzed by request of each robot in congestion points region, for each robot arranges respective dispatch command, avoid robot to get congestion in congestion points region, improve the speed of robot by congestion points, and then improve the whole work efficiency of robot cluster.
Embodiment 2
Present embodiments provide a kind of server for robot queuing management, as shown in Figure 5, described server sets up the data cube computation with multiple robot, and described server comprises:
Determination module 51, for determining congestion points region;
Module 52 is set, for what send according to each robot in described congestion points region, dispatch command is set by the request each robot be respectively in described congestion points region;
Sending module 53, for sending dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.
Wherein, described determination module 51, comprising:
Acquiring unit, for obtaining the path of described multiple robot;
Congestion points determining unit, for determining congestion points according to the path of described multiple robot;
Congestion points area determination unit, for determining congestion points region in the adjacent domain from described congestion points.
Wherein, describedly to be comprised by request: the position of robot in described congestion points region.
Wherein, described module 52 is set, for the time sequencing by request sent according to each robot received in described congestion points region, the described position of described each robot in described congestion points region passing through to ask to comprise, each robot be respectively in described congestion points region arranges dispatch command.
Wherein, described dispatch command comprises: the time that robot brings into operation in described congestion points region, and described robot is by the route in described congestion points region and the described robot speed by described congestion points region.
In the method provided in the embodiment of the present invention and server, determine congestion points region; According to each robot be respectively in described congestion points region by the path of each robot asked and in described congestion points region that each robot in described congestion points region sends, dispatch command is set; Send dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.To being analyzed by request of each robot in congestion points region, for each robot arranges respective dispatch command, avoid robot to get congestion in congestion points region, improve the speed of robot by congestion points, and then improve the whole work efficiency of robot cluster.
In several embodiments that the application provides, should be understood that disclosed apparatus and method can realize by another way.Device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, again such as, multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some communication interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.
If described function using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part of the part that technical scheme of the present invention contributes to prior art in essence in other words or this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. for a method for robot queuing management, it is characterized in that, set up the data cube computation of server and multiple robot respectively, described method comprises:
Determine congestion points region;
What send according to each robot in described congestion points region arranges dispatch command by the request each robot be respectively in described congestion points region;
Send dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.
2. the method for claim 1, is characterized in that, describedly determines congestion points region, comprising:
Obtain the path of described multiple robot;
Congestion points is determined in path according to described multiple robot;
Congestion points region is determined from the adjacent domain of described congestion points.
3. the method for claim 1, is characterized in that,
Describedly to be comprised by request: the position of robot in described congestion points region.
4. method as claimed in claim 3, is characterized in that, the described request each robot be respectively in described congestion points region that passes through sent according to each robot in described congestion points region arranges dispatch command, comprising:
According to the time sequencing by request, the described position of described each robot in described congestion points region passing through to ask to comprise of each robot transmission received in described congestion points region, each robot be respectively in described congestion points region arranges dispatch command.
5. the method as described in any one of claim 1-3, is characterized in that,
Described dispatch command comprises: the time that robot brings into operation in described congestion points region, and described robot is by the route in described congestion points region and the described robot speed by described congestion points region.
6. for a server for robot queuing management, it is characterized in that, described server sets up the data cube computation with multiple robot, and described server comprises:
Determination module, for determining congestion points region;
Module is set, for what send according to each robot in described congestion points region, dispatch command is set by the request each robot be respectively in described congestion points region;
Sending module, for sending dispatch command respectively to each robot in described congestion points region, with the robot making to receive dispatch command according to described dispatch command by described congestion points region.
7. server as claimed in claim 6, it is characterized in that, described determination module, comprising:
Acquiring unit, for obtaining the path of described multiple robot;
Congestion points determining unit, for determining congestion points according to the path of described multiple robot;
Congestion points area determination unit, for determining congestion points region in the adjacent domain from described congestion points.
8. server as claimed in claim 6, is characterized in that,
Describedly to be comprised by request: the position of robot in described congestion points region.
9. server as claimed in claim 8, is characterized in that,
Described module is set, for the time sequencing by request sent according to each robot received in described congestion points region, the described position of described each robot in described congestion points region passing through to ask to comprise, each robot be respectively in described congestion points region arranges dispatch command.
10. the server as described in any one of claim 6-8, is characterized in that,
Described dispatch command comprises: the time that robot brings into operation in described congestion points region, and described robot is by the route in described congestion points region and the described robot speed by described congestion points region.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610005062.0A CN105488892B (en) | 2016-01-04 | 2016-01-04 | A kind of method and server for robot queuing management |
| EP16883134.5A EP3401750B1 (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
| AU2016384096A AU2016384096B2 (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
| PCT/CN2016/093123 WO2017118001A1 (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
| US15/326,625 US10421186B2 (en) | 2016-01-04 | 2016-08-03 | Method and apparatus for working-place backflow of robots |
| JP2018553278A JP6671507B2 (en) | 2016-01-04 | 2016-08-03 | Method and Apparatus for Returning to Robot Site {METHOD AND DEVICE FOR RETURNING ROBOTS FROM SITE} |
| KR1020187020566A KR102080424B1 (en) | 2016-01-04 | 2016-08-03 | Method and apparatus for robotic site return |
| MYPI2018001202A MY200573A (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
| SG11201805378XA SG11201805378XA (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
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| CN201610005062.0A CN105488892B (en) | 2016-01-04 | 2016-01-04 | A kind of method and server for robot queuing management |
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| WO2017118001A1 (en) * | 2016-01-04 | 2017-07-13 | 杭州亚美利嘉科技有限公司 | Method and device for returning robots from site |
| CN107330921A (en) * | 2017-06-28 | 2017-11-07 | 京东方科技集团股份有限公司 | A kind of line-up device and its queuing control method |
| CN108764579A (en) * | 2018-06-01 | 2018-11-06 | 成都交大光芒科技股份有限公司 | A kind of storage multi-robotic task dispatching method based on congestion control |
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