3D printing production scheduling method, device, equipment, production system and storage medium

Abstract

The application relates to a 3D printing production scheduling method, device and equipment, a production system and a storage medium. The 3D printing production scheduling method comprises the following steps: acquiring an added task signal; the added task signal is sent by a 3D printer with an added task, and comprises a feeding task signal and a discharging task signal; determining a signal position; the signal position is the position of the 3D printer; acquiring the equipment position of the feeding and discharging equipment in a non-execution state and the task information of a current task; determining the task time required by each feeding and discharging equipment to complete the current task and the added task according to the added task signal, the signal position, the equipment position and the task information; and controlling the feeding and discharging equipment with the minimum task time to go to the signal position to execute the added task. The method can select the feeding and discharging equipment with the minimum task time to execute the added task, and improves production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printing production scheduling, in particular to a 3D printing production scheduling method, device, equipment, production system and storage medium. BACKGROUND

[0002] 3D printing technology is to layer the imported three-dimensional model and then make the material to be solidified in the 3D printing device solidify layer by layer, and then the product is obtained by stacking multiple solidified layers. With the development of 3D printing technology, it is applied to the production of dental and jaw models in the orthodontic field, and the material to be solidified is often an organic material such as plastic, resin, rubber, and gypsum.

[0003] In the production workshop, multiple 3D printers are placed in parallel production, and when one of them finishes printing and needs to be fed or unloaded, the obtained product is taken out by manual or the material is transmitted to the front of the 3D printer by designing a conveyor belt, but this method needs to be matched with manual or mechanical hands on all 3D printers to complete the complete feeding or unloading. Moreover, after 3D printing is completed, the obtained product needs to be transported to the next process in time, otherwise it will easily lead to product oxidation and affect the quality, and manual transportation cannot achieve this purpose.

[0004] In the traditional technology, a mechanical device capable of moving between multiple 3D printers and capable of completing feeding or unloading is designed. When a 3D printer finishes printing, a signal is sent to the nearest mechanical device to approach to perform the task, but when the nearest mechanical device is busy, it needs to wait until it is idle, which causes the production to be interrupted and affects the production efficiency. SUMMARY

[0005] Therefore, it is necessary to provide a 3D printing production scheduling method, device, equipment, production system and storage medium for the above technical problems.

[0006] In a first aspect, a 3D printing production scheduling method is provided, which is used for production with multiple 3D printers and multiple feeding and unloading devices, and the method comprises:

[0007] An added task signal is obtained; the added task signal is sent by a 3D printer with an added task, including a feeding task signal and an unloading task signal;

[0008] A signal position is determined; the signal position is the position of the 3D printer;

[0009] An equipment position of the feeding and unloading device in a non-execution state and task information of a current task are obtained;

[0010] determine the task time required for each feeding and discharging device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information;

[0011] control the feeding and discharging device with the minimum task time to go to the signal position to perform the new task.

[0012] In one embodiment, before obtaining the device position of the feeding and discharging device in the non-execution state and the task information of the current task, the method further comprises:

[0013] obtain the state information of the feeding and discharging device, the state information including the execution state and the non-execution state;

[0014] wherein the execution state includes the feeding state and the discharging state, and the non-execution state includes the idle state and the moving state.

[0015] In one embodiment, the task information includes the movement direction and the farthest target position movement direction, the movement direction including the feeding direction and the discharging direction, and the farthest target position including a first farthest position of the 3D printer corresponding to the current task in the movement direction and a second farthest position of the 3D printer corresponding to the current task in the reverse direction of the movement direction.

[0016] In one embodiment, determining the task time required for each feeding and discharging device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information comprises:

[0017] obtaining the passing time required for the feeding and discharging device to pass through one 3D printer, the passing number required for the feeding and discharging device to pass through the 3D printer to complete the current task and the new task, the execution time required for completing one feeding task or one discharging task, and the total execution number of the feeding task and the discharging task required for completing the current task;

[0018] determining the task time required for each feeding and discharging device to complete the current task and the new task according to the passing time, the passing number, the execution time and the total execution number.

[0019] In one embodiment, the passing number required for the feeding and discharging device to pass through the 3D printer to complete the current task and the new task comprises:

[0020] presetting a serial number for multiple 3D printers according to the position sequence;

[0021] when the new task is consistent with the movement direction, and the signal position is located between the device position and the farthest target position in the movement direction, determining the passing number according to the device position and the signal position;

[0022] When the new task is inconsistent with the moving direction, the number of passes is determined according to the first farthest position, the device position and the signal position in the moving direction;

[0023] When the new task is consistent with the moving direction, the device position is between the signal position and the first farthest position, and the second farthest position is between the first farthest position and the signal position, the number of passes is determined according to the first farthest position, the device position and the signal position in the moving direction;

[0024] When the new task is consistent with the moving direction, the device position is between the signal position and the first farthest position, and the signal position is between the device position and the second farthest position, the number of passes is determined according to the first farthest position, the second farthest position, the device position and the signal position;

[0025] Wherein, when the new task is the feeding task and the moving direction is the feeding direction, or the new task is the discharging task and the moving direction is the discharging direction, it is considered that the new task is consistent with the moving direction.

[0026] In a second aspect, a 3D printing production scheduling device is provided, which comprises:

[0027] A first obtaining module is configured to obtain a new task signal, wherein the new task signal is sent by a 3D printer with a new task, and comprises a feeding task signal and a discharging task signal;

[0028] A first confirming module is configured to determine a signal position, wherein the signal position is the position of the 3D printer;

[0029] A second obtaining module is configured to obtain the device positions of a plurality of feeding and discharging devices in a non-executing state and the task information of a current task;

[0030] A second confirming module is configured to determine the task time required by each feeding and discharging device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information;

[0031] A control module is configured to control the feeding and discharging device with the minimum task time to go to the signal position to execute the new task.

[0032] In one embodiment, the second confirming module further comprises:

[0033] A third obtaining module is configured to obtain the passing time required by the feeding and discharging device to pass one 3D printer, the number of passes required by the feeding and discharging device to complete the current task and the new task, the execution time required by the feeding and discharging device to complete one feeding or one discharging, and the total execution times of the feeding and discharging required to execute the current task;

[0034] A third confirmation module is configured to determine the task time required by each feeding and discharging device to complete the current task and the new task according to the elapsed time, the elapsed quantity, the execution time and the total execution times.

[0035] In a third aspect, a 3D printing production scheduling device is provided, which comprises a memory and a processor. The memory stores a computer program, and the processor implements the following method steps when executing the computer program:

[0036] A new task signal is acquired. The new task signal is sent by a 3D printer with a new task, and comprises a feeding task signal and a discharging task signal.

[0037] A signal position is determined. The signal position is the position of the 3D printer.

[0038] The device positions of a plurality of feeding and discharging devices in a non-execution state and the task information of the current task are acquired.

[0039] The task time required by each feeding and discharging device to complete the current task and the new task is determined according to the new task signal, the signal position, the device position and the task information.

[0040] The feeding and discharging device with the minimum task time is controlled to go to the signal position to execute the new task.

[0041] In a fourth aspect, a 3D printing production system is provided, which comprises:

[0042] A plurality of 3D printers are configured to perform 3D printing production and can send new tasks.

[0043] A plurality of feeding and discharging devices are configured to move between the plurality of 3D printers and execute feeding tasks or discharging tasks; and

[0044] The 3D printing production scheduling device described above.

[0045] In a fifth aspect, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the following method steps: a new task signal is acquired. The new task signal is sent by a 3D printer with a new task, and comprises a feeding task signal and a discharging task signal.

[0046] A signal position is determined. The signal position is the position of the 3D printer.

[0047] The device positions of a plurality of feeding and discharging devices in a non-execution state and the task information of the current task are acquired.

[0048] The task time required by each feeding and discharging device to complete the current task and the new task is determined according to the new task signal, the signal position, the device position and the task information.

[0049] The unloading equipment with the minimum task time is controlled to go to the signal position to perform the new task.

[0050] The 3D printing production scheduling method, device, production system and storage medium obtain the device positions of the multiple unloading equipment in a non-execution state and the task information of the current task after obtaining the new task issued by the 3D printer, calculate the task time required by each unloading equipment to complete the current task and the new task, and control the unloading equipment with the minimum required task time to go to perform the new task. Compared with the method of controlling the nearest equipment to perform the task in the traditional technology, the process of waiting when the nearest equipment is busy is avoided, and the production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 The application environment diagram of the 3D printing production scheduling method in one embodiment;

[0052] Figure 2 The flowchart of the 3D printing production scheduling method in one embodiment;

[0053] Figure 3 The scene diagram of the 3D printing production scheduling method in one embodiment;

[0054] Figure 4 The scheduling scheme diagram of the 3D printing production scheduling method in one embodiment;

[0055] Figure 5 The scheduling scheme diagram of the 3D printing production scheduling method in another embodiment;

[0056] Figure 6 The scheduling scheme diagram of the 3D printing production scheduling method in another embodiment;

[0057] Figure 7 The scheduling scheme diagram of the 3D printing production scheduling method in another embodiment;

[0058] Figure 8 The structure block diagram of the 3D printing production scheduling device in one embodiment;

[0059] Figure 9 The internal structure diagram of the computer device in one embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical scheme and advantages of the present application clearer, further detailed description of the present application will be given below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0061] The 3D printing production scheduling method provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 The application environment includes a plurality of 3D printers 102, a plurality of feeding and discharging devices 104, and a 3D printing production scheduling device 106. The plurality of 3D printers 102 are all in communication connection with the 3D printing production scheduling device 106, and the plurality of feeding and discharging devices 104 are all in communication connection with the 3D printing production scheduling device 106. The feeding or discharging signal sent by the 3D printer 102 is transmitted to the 3D printing production scheduling device 106, and the 3D printing production scheduling device 106 determines the target feeding and discharging device 104 according to the state of the plurality of feeding and discharging devices 104, and the target feeding and discharging device 104 goes to the 3D printer 102 that sends the signal.

[0062] The 3D printer 102 can be used to print a dental model in the orthodontic field, and the solidified material can be plastic, resin, rubber, or plaster, etc. The model printed by the 3D printer is carried on the loading tray, and needs to be discharged after printing. When the loading tray is missing, feeding is needed. The feeding and discharging device 104 can include a moving mechanism and an execution mechanism. The moving mechanism can be an electrically controlled trolley, for example, an AGV (Automated Guided Vehicle), which can move between one row or one column of 3D printers 102 according to a preset path. After the AGV moves to the designated position, the corresponding 3D printer 102 can be fed or discharged. When the feeding and discharging device 104 performs the feeding task in the feeding direction, the discharging task is not performed at the same time. When the farthest 3D printer in the feeding direction finishes the feeding, the direction is reversed to perform the discharging task in the discharging direction. The execution mechanism can be a mechanical arm, which can execute the preset feeding and discharging control program of the execution mechanism. When feeding is needed, the mechanical arm executes the feeding program, and when discharging is needed, the mechanical arm executes the discharging program. The 3D printing production scheduling device 106 can be, but is not limited to, various personal computers, notebook computers, Internet of Things devices, and servers, etc. The server can be implemented by an independent server or a server cluster composed of multiple servers, and can be a local server or a cloud server. The feeding direction and the discharging direction mentioned in the embodiments of the present application are only illustrative examples.

[0063] In one embodiment, as shown in Figure 2 A 3D printing production scheduling method is provided. Taking the 3D printing production scheduling device in Figure 1 as an example, the method includes the following steps:

[0064] S202. Obtain an added task signal. The added task signal is sent by a 3D printer with an added task, including a feeding task signal and a discharging task signal.

[0065] The new task can be a feeding task or a discharging task. After completing printing, the 3D printer needs to transport the loading tray and the product on the loading tray, i.e., to perform a discharging task. After issuing the discharging task, the feeding and discharging equipment needs to go to perform the discharging task to transport the loading tray away. When there is a lack of a loading tray for carrying the product, a loading tray needs to be added, i.e., to perform a feeding task, and the feeding and discharging equipment needs to go to perform the feeding task. The new task signal can be a signal requesting the feeding and discharging equipment 104 to perform feeding or discharging.

[0066] S204. Determine the signal position; the signal position is the position of the 3D printer.

[0067] The signal position is the position of the 3D printer that issues the new task, i.e., the position of the 3D printer that issues the new task. Specifically, after receiving the task signal, the 3D printing production scheduling device 106 can obtain the position information and the state information in multiple ways. In some embodiments, a position information acquisition instruction can be issued to the 3D printer that issues the new task, and the returned position information is received as the signal position; in other embodiments, the 3D printer can issue its own position information after issuing the new task, and the 3D printing production scheduling device 106 stores the position information and the task signal to the storage module after receiving the position information and the task signal, and calls the position information and the state information from the storage module after receiving the scheduling instruction.

[0068] It can be understood that after a 3D printer issues a new task, multiple feeding equipment can respond to the task signal according to the task signal of the new task.

[0069] S206. Obtain the equipment position of the feeding and discharging equipment in a non-execution state and the task information of the current task.

[0070] The feeding and discharging equipment 104 needs to stop near the 3D printer to complete feeding or discharging. The non-execution state refers to a state that is not in an execution state, i.e., not in a feeding state or a discharging state. At this time, the feeding and discharging equipment 104 can be in a moving state, or in a stationary state without feeding or discharging.

[0071] The device position refers to the current position of the feeding and discharging device 104. The current task refers to the 3D printer task request that the feeding and discharging device 104 in the moving state has responded. The current task can include one task or multiple tasks, and when multiple tasks are included, the feeding and discharging device 104 in the moving state responds to each task in turn. The task information refers to the information of the task that the feeding and discharging device 104 performs after responding to the 3D printer, and the task information can include but is not limited to the position information of the 3D printer in the current task, the motion direction, the farthest target position, etc. When the current task includes multiple tasks, the farthest target position can also include the first farthest position in the current motion direction and the second farthest position in the reverse direction of the current motion direction.

[0072] In some embodiments, the 3D printing production scheduling device can issue device position and task information acquisition instructions to multiple or all feeding and discharging devices 104, and receive the returned task information content of the device position. In some embodiments, the feeding and discharging device 104 can issue the device position and task information to the 3D printing production scheduling device in real time, and the 3D printing production scheduling device stores the device position and task information to the storage module after receiving the device position and task information, and calls the device position and task information from the storage module after receiving the scheduling instruction.

[0073] S208. According to the new task signal, the signal position, the device position and the task information, determine the task time required by each feeding and discharging device to complete the current task and the new task.

[0074] The device position is the current position of the feeding and discharging device 104, and the task information is the task information of the current task, which can include the position information of the 3D printer in the current task, the current motion direction of the feeding and discharging device 104, the first farthest position in the motion direction and the second farthest position in the reverse direction of the motion direction, etc. The new task includes the feeding task and the discharging task, and the signal position is the position of the 3D printer that issues the new task. When the current task is feeding and the new task is discharging, even if the feeding and discharging device 104 passes through the 3D printer that issues the new task, it will not turn to execute the discharging task. According to the current task and the new task, the task time required by the feeding and discharging device 104 to complete the current task first and then complete the new task or to complete the new task first and then complete the current task can be determined, and multiple or all non-executing feeding and discharging devices 104 can determine the task time required by each device.

[0075] S210. Control the feeding and discharging device with the minimum task time to go to the signal position to execute the new task.

[0076] After confirming the task time of each non-execution state of the multiple or all loading and unloading devices, the task time of each is compared to obtain the loading and unloading device 104 corresponding to the minimum task time; the loading and unloading device 104 is controlled to go to the 3D printer issuing the new task to execute the new task, which can reduce the execution time and increase the efficiency.

[0077] In the above 3D printing production scheduling method, the task information of the current task of the 3D printer issuing the new task and the loading and unloading device 104 is obtained and integrated to confirm the task time of each non-execution state of the loading and unloading device 104, and the loading and unloading device 104 with the minimum task time is controlled to execute the new task, thereby realizing the scheduling of the execution of the task of multiple loading and unloading devices 104. Compared with the scheme of waiting for the nearest loading and unloading device 104 in the traditional technology, the production efficiency is effectively improved.

[0078] In one embodiment, before obtaining the device position and task information of the current task of the multiple loading and unloading devices 104 in the non-execution state, the method further comprises: obtaining the state information of the multiple loading and unloading devices 104, the state information comprising an execution state and a non-execution state, wherein the execution state comprises a loading state and an unloading state, and the non-execution state comprises an idle state and a moving state.

[0079] After obtaining the state information of the multiple or all loading and unloading devices 104, the loading and unloading devices in the non-execution state are screened from them. The obtained loading and unloading devices 104 can be in an execution state or a non-execution state. When in the execution state, the loading and unloading device 104 does not move. When in the loading state in the execution state, the loading and unloading device 104 is performing a loading task on a certain 3D printing device, and when in the unloading state, the loading and unloading device 104 is performing an unloading task on a certain 3D printing device, and at this time, the execution of the new task is not considered. When in the idle state in the non-execution state, the loading and unloading device 104 does not move and does not perform a loading task or an unloading task, and when in the moving state, the loading and unloading device 104 is in the execution task phase and is going to the 3D printer in the current task.

[0080] In one embodiment, the task information comprises a movement direction and a farthest target position, and the movement direction comprises a loading direction and an unloading direction, and the farthest target position comprises a first farthest position of the 3D printer corresponding to the current task in the movement direction and a second farthest position of the 3D printer corresponding to the current task in the reverse direction of the movement direction.

[0081] In some embodiments, determining the task time required by each loading and unloading device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information comprises:

[0082] S302. Obtain the passing time of the feeding and discharging device passing through a 3D printer, the passing number of the feeding and discharging device passing through the 3D printer for completing the current task and the new task, the execution time for completing one feeding task or one discharging task, and the total execution number of the feeding task and the discharging task for completing the current task.

[0083] The task time can be calculated by a preset formula, and the preset formula includes T=T a *J+T b *K; wherein, T is the task time, T a is the passing time of the feeding and discharging device 104 passing through a printer, J is the passing number of the feeding and discharging device 104 passing through the 3D printer for completing the current task and the new task, T b is the execution time for completing one feeding task or one discharging task, and K is the total execution number of the feeding task and the discharging task for completing the current task.

[0084] In some embodiments, in order to facilitate calculation, the time required for one feeding or one discharging can be set to be the same, and T b is the same. T a and T b are constants, so that the task time T only needs to obtain the passing number of the feeding and discharging device 104 passing through the 3D printer and the total number of feeding and discharging.

[0085] S304. Determine the task time required for each feeding and discharging device to complete the current task and the new task according to the passing time, the passing number, the execution time and the total execution number.

[0086] In some embodiments, the number of passes through the 3D printer required by the feeding and discharging equipment to complete the current task and the new task includes: presetting the sequence numbers of the plurality of 3D printers according to the position sequence; when the new task is consistent with the movement direction, and the signal position is located between the equipment position and the farthest target position in the movement direction, determining the number of passes according to the equipment position and the signal position; when the new task is inconsistent with the movement direction, determining the number of passes according to the first farthest position, the equipment position and the signal position in the movement direction; when the new task is consistent with the movement direction, the equipment position is located between the signal position and the first farthest position, and the second farthest position is located between the first farthest position and the signal position, determining the number of passes according to the first farthest position, the equipment position and the signal position in the movement direction; when the new task is consistent with the movement direction, the equipment position is located between the signal position and the first farthest position, and the signal position is located between the equipment position and the second farthest position, determining the number of passes according to the first farthest position, the second farthest position, the equipment position and the signal position; wherein the new task is an feeding task, the movement direction is the feeding direction, or the new task is a discharging task, and the movement direction is the discharging direction.

[0087] First, the sequence numbers of the plurality of 3D printers are preset according to the position sequence, for example, the sequence numbers of the plurality of 3D printers can be preset as 1, 2, 3, …, N-1, N in the feeding direction or the discharging direction. Figure 3 , Figure 3 An embodiment of the present application is shown, which has 10 3D printers, and the sequence numbers of the printers are 1, 2, 3, …, 9, 10 in the feeding direction, Figure 4 to Figure 7 is the running logic of different embodiments, wherein the triangle represents the new task, the circle represents the current task, the hollow represents the feeding, the shadow represents the discharging, the preset new task is the feeding task, the movement direction is the feeding direction, or the new task is the discharging task, and the movement direction is the discharging direction, which is considered that the new task is consistent with the movement direction, and other types are considered inconsistent; the farthest position of the preset current task in the current movement direction is the first farthest position H1, and the farthest position opposite to the current movement direction is the second farthest position H2. According to the equipment position C of the feeding and discharging equipment 104, the task information of the current task, the type of the new task and the signal position W, the following situations can be divided:

[0088] In some embodiments, please refer to Figure 4 , Figure 4For the production scheduling scheme of an embodiment, the current task is a feeding task, the feeding and discharging device 104 moves to the 3D printing device corresponding to the current task in the feeding direction, the new task is also a feeding task, the new task is consistent with the movement direction of the feeding and discharging device 104, and the signal position of the 3D printing device issuing the new task at this time is located between the farthest target positions of the feeding and discharging device 104. If the current task is only one, it is the first farthest position, and if it contains multiple, the largest serial number is the first farthest position, and J is calculated according to J = |C-W|. In this embodiment, the signal position of the new task is serial number 5, the current task needs to go to serial number 9, and the feeding and discharging device is located at serial number 1 at this time. At this time, the feeding and discharging device 104 can complete the feeding when passing through serial number 5, the movement path is 1 to 5 to 9, J is calculated according to J = |C-W|, that is, J = 5-1 = 4, and the task time T = 4T a +T b .

[0089] In some embodiments, the current task is a discharging task, the feeding and discharging device 104 moves to the 3D printing device corresponding to the current task in the discharging direction, the new task is also a discharging task, the new task is consistent with the movement direction, and the signal position of the 3D printing device issuing the new task at this time is located between the farthest target positions of the feeding and discharging device. J is calculated according to J = |C-W|. For example, the feeding and discharging device 104 is at 9, the signal position is at 5, and the 3D printer position corresponding to the current task is at 1. The movement path is 9 to 5 to 1, J is calculated according to J = |C-W|, that is, J = 9-5 = 4.

[0090] In some embodiments, please refer to Figure 5 , Figure 5 For another embodiment of the production scheduling scheme, the current task is a feeding task, the feeding and discharging device 104 moves to the 3D printing device corresponding to the current task in the feeding direction, the new task is a discharging task, and the new task is inconsistent with the movement direction. At this time, the feeding and discharging device 104 needs to first run in the feeding direction to complete the current task and then return to the discharging direction, and J is calculated by J = |H1-C|+|H1-W|. For example, the device position of the feeding and discharging device 104 is serial number 1, the current task is serial number 9, the signal position is serial number 5, and the movement path is 1 to 9 to 5. When the current task has only one, it is the first farthest position, and J is calculated by J = |H1-C|+|H1-W|, that is, J = |9-1|+|9-5| = 12, and the task time T = 12T a +T b ; if the current task has multiple, for example, the current task includes feeding tasks of serial numbers 3, 6, and 9, that is, K = 3, 9 is the first farthest position in the movement direction, and the calculation of J is J = |9-1|+|9-5| = 12, and the task time T = 12Ta + 3T b .

[0091] In some embodiments, the current task is a downloading task, the feeding and unloading device 104 moves to the 3D printing device corresponding to the current task in the downloading direction, the new task is an uploading task, the new task is inconsistent with the movement direction, at this time the feeding and unloading device 104 needs to first run according to the downloading direction to complete the current task and then turn back to the uploading direction, and J is calculated by J = |H1-C| + |H1-W|. For example, the feeding and unloading device 104 is located at serial number 9, the current task is serial number 1, and the new task is serial number 5. At this time, the feeding and unloading device needs to first move to serial number 1 according to the downloading direction to complete the downloading and then turn to the uploading direction to move to serial number 5. At this time, J is calculated by J = |H1-C| + |H1-W|, that is, J = |1-9| + |1-5| = 12.

[0092] In some embodiments, please refer to Figure 6 , Figure 6 The production scheduling scheme of another embodiment is shown, the current task is an uploading task, the feeding and unloading device moves in the uploading direction, the new task is an uploading task, the new task is consistent with the movement direction, the device position is located between the signal position and the first farthest position, and the second farthest position is located between the first farthest position and the signal position. At this time, J is calculated by J = |H1-C| + |H1-W|. For example, the device position is located between serial number 4 and serial number 5, at this time, the center line of the feeding and unloading device crosses the center line of serial number 4 and serial number 5, and is regarded as being located at serial number 5. The first farthest position is located at serial number 9, and the signal position is located at serial number 3. At this time, since the feeding and unloading device has crossed serial number 3, it first moves to serial number 9 to perform the uploading task and then turns back to serial number 3. The movement path is 5 to 9 to 3, J = |H1-C| + |H1-W| = |9-5| + |9-3| = 10, and at this time the task time T = 10T a + T b .

[0093] In some embodiments, the current task is a downloading task, the feeding and unloading device 104 moves in the downloading direction, the new task is a downloading task, the new task is consistent with the movement direction, the device position is located between the signal position and the first farthest position, and the second farthest position is located between the first farthest position and the signal position. At this time, J is calculated by J = |H1-C| + |H1-W|. For example, the device position is located at serial number 5, the first farthest position is located at serial number 3, and the signal position is located at serial number 9. At this time, the movement path is 5 to 3 to 9, J = |H1-C| + |H1-W| = |3-5| + |3-9| = 8.

[0094] In some embodiments, please refer to Figure 7 , Figure 7For another embodiment of the production scheduling scheme, the current task is the feeding task, the feeding and discharging device 104 moves in the feeding direction, the new task is the feeding task, the new task is consistent with the movement direction, the device position is between the signal position and the first farthest position, and the signal position is between the device position and the second farthest position, and J is calculated by J = |C-H1| + |H1-H2| + |H2-W|. For example, the feeding and discharging device is located between serial number 4 and serial number 5, at this time the center line of the feeding and discharging device crosses the center line between serial number 4 and serial number 5, and is considered to be located at serial number 5, the first farthest position in the feeding direction is located at serial number 9, which is the feeding task, and the second farthest position in the discharging direction is located at serial number 2, which is the feeding task, at this time the feeding and discharging device needs to go to serial number 9 first to feed, then return to serial number 2 to feed, and then go to serial number 3 to feed, that is, the movement path is 5 to 9 to 2 to 3, that is, it needs to execute 2 feeding or discharging tasks, K = 2, at this time J = |C-H1| + |H1-H2| + |H2-W| = |5-9| + |9-2| + |2-3| = 12, the task time T = 12T a + 2T b .

[0095] In some embodiments, the current task is the discharging task, the feeding and discharging device moves in the discharging direction, the new task is the discharging task, the new task is consistent with the movement direction, the device position is between the signal position and the first farthest position, and the signal position is between the device position and the second farthest position, and J is calculated by J = |C-H1| + |H1-H2| + |H2-W|. For example, the feeding and discharging device is located at serial number 5, the first farthest position of the discharging task is located at serial number 1, the other discharging task is serial number 8, and the new task is located at serial number 7, at this time the movement path is 5 to 1 to 8 to 7, J = |C-H1| + |H1-H2| + |H2-W| = |5-1| + |1-8| + |8-7| = 12.

[0096] Wherein, when judging the position of the feeding and discharging device, the center line of the feeding and discharging device and the midpoint of the connecting line of the adjacent two 3D printers can be used for judgment, when the feeding and discharging device crosses the midpoint, it is considered that the serial number is changed, for example, located between serial number 4 and serial number 5, the center line of the feeding and discharging device crosses the midpoint of the connecting line between serial number 4 and serial number 5, and is close to serial number 5, then the feeding and discharging device is considered to be located at serial number 5, and is closer to serial number 4, then the feeding and discharging device is considered to be located at serial number 4.

[0097] When a 3D printer sends a new task, multiple non-executing state feeding and discharging devices can be in one of the above situations. At this time, the task time of each device is calculated according to the respective situation, and then the minimum task time is obtained by comparing the respective task times, that is, the device with the minimum task time is selected as the device to execute the new task, and the device goes to the signal position to execute the new task. By calculating the minimum time of the task time of the feeding and discharging device in different states, the time consumption is controlled to be the shortest, and the efficiency is the highest. Compared with the traditional method of waiting for the nearest position feeding and discharging device, the production efficiency is obviously improved.

[0098] It should be understood that, although the steps in the flowcharts involved in the embodiments described above are displayed in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowcharts involved in the embodiments described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately executed with at least part of other steps or stages.

[0099] Based on the same inventive concept, the embodiments of the present application also provide a 3D printing production scheduling device for implementing the above-mentioned 3D printing production scheduling method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more 3D printing production scheduling device embodiments provided below can refer to the limitations of the 3D printing production scheduling method described above, which will not be repeated here.

[0100] In one embodiment, as shown in Figure 8 A 3D printing production scheduling device is provided, including: a first acquisition module 810, configured to acquire a new task signal; the new task signal is sent by a 3D printer with a new task, including a feeding task signal and a discharging task signal. A first confirmation module 820 is configured to determine a signal position; the signal position is the position of the 3D printer; the signal position is the position of the 3D printer. A second acquisition module 830 is configured to acquire the device position of multiple feeding and discharging devices in a non-executing state and the task information of the current task. A second confirmation module 840 is configured to determine the task time required by each feeding and discharging device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information. A control module 850 is configured to control the feeding and discharging device with the minimum task time to go to the signal position to execute the new task.

[0101] In one embodiment, the second confirming module 840 further comprises a third obtaining module 842, configured to obtain a passing time of the feeding and discharging device passing through one 3D printer, a passing number of the feeding and discharging device passing through the 3D printer to complete the current task and the new task, an execution time required to complete one feeding task or one discharging task, and a total execution number of the feeding task and the discharging task required to complete the current task. A third confirming module 844 is configured to determine a task time required by each feeding and discharging device to complete the current task and the new task according to the passing time, the passing number, the execution time and the total execution number.

[0102] The second confirming module 840 can calculate the task time based on a preset formula. The preset formula comprises: T=T a *J+T b *K; wherein, T is the task time, T a is the time of the feeding and discharging device passing through one 3D printer, J is the number of the 3D printers required by the feeding and discharging device to complete the current task and the new task, T b is the time required to complete one feeding or one discharging, and K is the total number of the feeding and discharging required to complete the current task.

[0103] In one embodiment, the second confirming module 840 calculates the number J of the 3D printers required by the feeding and discharging device to complete the current task and the new task, which comprises:

[0104] presetting a serial number for the plurality of 3D printers according to the position sequence;

[0105] when the new task is consistent with the motion direction, and the signal position is located between the device position and the farthest target position in the motion direction, J is calculated by J=|C-W|;

[0106] when the new task is inconsistent with the motion direction, J is calculated by J=|H1-C|+|H1-W|;

[0107] when the new task is consistent with the motion direction, the device position is located between the signal position and the first farthest position, and the second farthest position is located between the first farthest position and the signal position, J is calculated by J=|H1-C|+|H1-W|;

[0108] when the new task is consistent with the motion direction, the device position is located between the signal position and the first farthest position, and the signal position is located between the device position and the second farthest position, J is calculated by J=|C-H1|+|H1-H2|+|H2-W|;

[0109] Wherein, C is the device position, W is the signal position, H1 is the first farthest position in the same direction as the current motion direction, and H2 is the second farthest position in the opposite direction of the current motion direction; wherein the newly added task is the feeding task, and the motion direction is the feeding direction, or the newly added task is the discharging task, and the motion direction is the discharging direction, and it is considered that the newly added task is consistent with the motion direction.

[0110] The various modules in the above 3D printing production scheduling device can be all or part realized by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to call and execute the operations corresponding to the above various modules by the processor.

[0111] In one embodiment, a 3D printing production scheduling device, which can be a terminal, has an internal structure diagram as shown in Figure 9 The 3D printing production scheduling device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. The processor of the 3D printing production scheduling device is used to provide computing and control capabilities. The memory of the 3D printing production scheduling device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the 3D printing production scheduling device is used to communicate with external terminals in wired or wireless mode. Wireless mode can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a 3D printing production scheduling method.

[0112] Those skilled in the art can understand that Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0113] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program: obtaining a new task signal; the new task signal being sent by a 3D printer with a new task, including a feeding task signal and a discharging task signal; determining a signal position; the signal position being the position of the 3D printer; obtaining the device position of the feeding and discharging device in a non-executing state and the task information of the current task; determining the task time required by each feeding and discharging device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information; and controlling the feeding and discharging device with the minimum task time to go to the signal position to execute the new task.

[0114] In one embodiment, a 3D printing production system is provided, comprising: a plurality of 3D printers for 3D printing production and capable of sending a new task; a plurality of feeding and discharging devices capable of moving between the plurality of 3D printers and executing a feeding task or a discharging task; and the above-mentioned 3D printing production scheduling device.

[0115] In one embodiment, a computer readable storage medium is provided, storing a computer program thereon, and the computer program is executed by a processor to implement the following steps: obtaining a new task signal; the new task signal being sent by a 3D printer with a new task, including a feeding task signal and a discharging task signal; determining a signal position; the signal position being the position of the 3D printer; obtaining the device position of the feeding and discharging device in a non-executing state and the task information of the current task; determining the task time required by each feeding and discharging device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information; and controlling the feeding and discharging device with the minimum task time to go to the signal position to execute the new task.

[0116] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0117] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0118] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A 3D printing production scheduling method, characterized in that, The method for production with multiple 3D printers and multiple feeding and discharging devices comprises: acquiring a new task signal; the new task signal is sent by a 3D printer with a new task, including a feeding task signal and a discharging task signal; determining a signal position; the signal position is the position of the 3D printer; acquiring the device position of the feeding and discharging device in a non-execution state and the task information of the current task; the task information includes a movement direction and a farthest target position, the movement direction includes a feeding direction and a discharging direction, and the farthest target position includes a first farthest position of the 3D printer corresponding to the current task in the movement direction and a second farthest position of the 3D printer corresponding to the current task in the reverse direction of the movement direction; determining the task time required for each feeding and discharging device to complete the current task and the new task according to the new task signal, the signal position, the device position and the task information, including: acquiring the passing time required for the feeding and discharging device to pass through a 3D printer, the passing number of the feeding and discharging device required to pass through the 3D printer to complete the current task and the new task, the execution time required to complete one feeding task or one discharging task, and the total execution number of the feeding task and the discharging task required to complete the current task; determining the task time required for each feeding and discharging device to complete the current task and the new task according to the passing time, the passing number, the execution time and the total execution number; wherein the passing number of the feeding and discharging device required to pass through the 3D printer to complete the current task and the new task includes: presetting the serial number of multiple 3D printers according to the position sequence; when the new task is consistent with the movement direction and the signal position is located between the device position and the farthest target position in the movement direction, determining the passing number according to the device position and the signal position; when the new task is inconsistent with the movement direction, determining the passing number according to the first farthest position in the movement direction, the device position and the signal position; when the new task is consistent with the movement direction, the device position is located between the signal position and the first farthest position, and the second farthest position is located between the first farthest position and the signal position, determining the passing number according to the first farthest position in the movement direction, the device position and the signal position; when the new task is consistent with the movement direction, the device position is located between the signal position and the first farthest position, and the signal position is located between the device position and the second farthest position, determining the passing number according to the first farthest position, the second farthest position, the device position and the signal position; wherein the new task is consistent with the movement direction when the new task is a feeding task, the movement direction is a feeding direction, or the new task is a discharging task, and the movement direction is a discharging direction; controlling the feeding and discharging device with the minimum task time to go to the signal position to execute the new task. Before the step of acquiring the device position of the feeding and discharging equipment in the non-execution state and the task information of the current task, the method further comprises: acquiring state information of the feeding and discharging equipment, the state information comprising an execution state and a non-execution state; wherein the execution state comprises a feeding state and a discharging state, and the non-execution state comprises an idle state and a moving state.

2. A 3D printing production scheduling apparatus for implementing the 3D printing production scheduling method according to claim 1, characterized in that, The device comprises: a first acquisition module for acquiring an added task signal, the added task signal being sent by a 3D printer with an added task and comprising a feeding task signal and a discharging task signal; a first confirmation module for determining a signal position, the signal position being the position of the 3D printer; a second acquisition module for acquiring the device position of the feeding and discharging equipment in the non-execution state and the task information of the current task; a second confirmation module for determining the task time required by each feeding and discharging equipment to complete the current task and the added task according to the added task signal, the signal position, the device position and the task information; a control module for controlling the feeding and discharging equipment with the minimum task time to go to the signal position to execute the added task; the second confirmation module further comprises: a third acquisition module for acquiring the passing time of the feeding and discharging equipment through a 3D printer, the passing number of the feeding and discharging equipment through the 3D printer to complete the current task and the added task, the execution time of completing one feeding or one discharging, and the total execution number of feeding and discharging to complete the current task; a third confirmation module for determining the task time required by each feeding and discharging equipment to complete the current task and the added task according to the passing time, the passing number, the execution time and the total execution number. 3.A 3D printing production scheduling device, comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to realize the steps of the method of claim 1.

4. A 3D printing production system, characterized in that, comprise: a plurality of 3D printers for 3D printing production and capable of sending an added task; a plurality of feeding and discharging equipment capable of moving between the plurality of 3D printers and executing a feeding task or a discharging task; and the 3D printing production scheduling device of claim 3. The computer program is executed by the processor to realize the steps of the method of claim 1.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, ​

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