Scheduling methods, scheduling systems, computer equipment, and readable storage media

Abstract

This application provides a scheduling method, scheduling system, computer equipment, and readable storage medium. The method is applied to a central control device and includes: receiving a dispatch signal sent by a processing device; based on the dispatch signal from the processing device, switching a first value of the loading / unloading address bits in a first virtual interface to a second value; based on the switching of the first value of the loading / unloading address bits in the first virtual interface to the second value, determining a mobile vehicle; based on the determined mobile vehicle, sending a start signal to the mobile vehicle, the start signal carrying the number of the processing device; receiving an arrival signal fed back by the mobile vehicle based on the start signal, and / or receiving a location confirmation signal sent by the processing device based on the arrival of the mobile vehicle at the processing device; based on the arrival signal and / or the location confirmation signal, establishing a variable mapping connection between the first virtual interface and the second virtual interface to realize the interaction between the processing device and the mobile vehicle through variable mapping, thereby reducing the operating burden of the central control device.

Description

Technical Field

[0001] This application relates to the field of material scheduling technology, and in particular to a scheduling method, scheduling system, computer equipment, and readable storage medium. Background Technology

[0002] In the manufacturing and processing field, a central control system (CCS) can be used to control the interaction between processing equipment and vehicle-mounted equipment to achieve material scheduling. For example, the CCS parses the communication protocol for interaction with the processing equipment / vehicle-mounted equipment, and then converts it into a communication protocol for interaction with the vehicle-mounted equipment / processing equipment through logic programs. When using this method to control multiple processing equipment and multiple vehicle-mounted equipment, it increases the operating burden of the CCS. In addition, different processing equipment or vehicle-mounted equipment have different logic programs with the CCS. Due to the high complexity of executing multiple different logic programs, the execution efficiency of the CCS is reduced, which prolongs the execution time of material scheduling and affects the efficiency of material scheduling. Summary of the Invention

[0003] This application discloses a scheduling method, scheduling system, computer equipment, and readable storage medium, which solves the technical problem that using a central control system to control material scheduling results in a heavy operating burden on the central control system and low material scheduling efficiency.

[0004] This application provides a scheduling method applied to a central control device. The central control device has a first virtual interface and a second virtual interface. The first virtual interface is used for communication connection with a processing device, and the second virtual interface is used for communication connection with a mobile vehicle. The method includes: receiving a dispatch signal sent by the processing device; based on the dispatch signal from the processing device, switching a first value of the loading / unloading address bit in the first virtual interface to a second value; based on the switching of the first value of the loading / unloading address bit in the first virtual interface to the second value, determining a mobile vehicle; based on the determined mobile vehicle, sending a start signal to the mobile vehicle, the start signal carrying the number of the processing device; receiving an arrival signal fed back by the mobile vehicle based on the start signal, and / or receiving a location confirmation signal sent by the processing device based on the arrival of the mobile vehicle at the processing device; and establishing a variable mapping connection between the first virtual interface and the second virtual interface based on the arrival signal and / or the location confirmation signal.

[0005] In some optional implementations, there are multiple second virtual interfaces, each of which is connected to a corresponding mobile vehicle communication device. The step of determining a mobile vehicle device based on switching the first value of the loading / unloading address bit in the first virtual interface to the second value includes: obtaining the connection status of multiple second virtual interfaces based on switching the first value of the loading / unloading address bit in the first virtual interface to the second value, the connection status including a disconnected state; selecting the second virtual interface in the disconnected state based on the connection status of the multiple second virtual interfaces; and determining a second virtual interface in the disconnected state according to a preset priority to determine the corresponding mobile vehicle device.

[0006] In some optional implementations, there are multiple second virtual interfaces, each of which is connected to a corresponding mobile vehicle communication interface. The step of determining a mobile vehicle based on switching the first value of the loading / unloading address bit in the first virtual interface to the second value includes: obtaining the working status of multiple mobile vehicles based on switching the first value of the loading / unloading address bit in the first virtual interface to the second value, the working status including a non-working state; selecting the mobile vehicle in the non-working state based on the non-working state of the multiple mobile vehicles; and determining a mobile vehicle from the mobile vehicles in the non-working state according to a preset priority.

[0007] In some optional implementations, the processing equipment, the mobile vehicle, the first virtual interface, and the second virtual interface each have multiple functional address bits. Each functional address bit is assigned a first value and a second value that can be switched between each other. The functional address bits of the processing equipment are mapped to the functional address bit variables of the first virtual interface, and the functional address bits of the mobile vehicle are mapped to the functional address bit variables of the second virtual interface. The step of establishing a variable mapping connection between the first virtual interface and the second virtual interface based on the arrival signal and / or the arrival confirmation signal is as follows: based on the arrival signal and / or the arrival confirmation signal, the variables of each functional address bit of the first virtual interface are mapped to the variables of each functional address bit of the second virtual interface.

[0008] In some optional implementations, the dispatch signal includes a second value of the loading / unloading address bits in the processing equipment, the second value of which is formed by switching the first value of the loading / unloading address bits. The step of establishing a variable mapping connection between the first virtual interface and the second virtual interface based on the arrival signal includes: switching the first value of the arrival address bits in the first virtual interface to the second value based on the arrival signal; sending the second value of the arrival address bits in the first virtual interface to the processing equipment; receiving a dispatch reset signal fed back by the processing equipment based on the second value of the arrival address bits in the first virtual interface, the dispatch reset signal including a first value formed by resetting the loading / unloading address bits of the processing equipment based on the arrival address bits in the first virtual interface; resetting the loading / unloading address bits and / or resetting the arrival address bits in the first virtual interface based on the dispatch reset signal; and establishing a variable mapping connection between the first virtual interface and the second virtual interface based on resetting the loading / unloading address bits in the first virtual interface.

[0009] In some optional implementations, the arrival signal includes a second value of the arrival address bit of the mobile vehicle, the second value of the arrival address bit of the mobile vehicle being formed by switching the first value of the arrival address bit of the mobile vehicle. The step of establishing a variable mapping connection between the first virtual interface and the second virtual interface based on the arrival signal includes: mapping the second value of the arrival address bit in the mobile vehicle to the second virtual interface, so that the first value of the arrival address bit in the second virtual interface is switched to the second value; and based on the switch of the first value of the arrival address bit in the second virtual interface to the second value, mapping the first value of the arrival address bit in the first virtual interface to the second value. Switch to the second value; send the arrival address bit in the first virtual interface to the processing equipment as the second value; receive the dispatch reset signal fed back by the processing equipment based on the arrival address bit in the first virtual interface being the second value, the dispatch reset signal including the first value formed by the processing equipment resetting the loading and unloading address bits of the processing equipment based on the arrival address bit in the first virtual interface; based on the dispatch reset signal, reset the loading and unloading address bits in the first virtual interface and / or reset the arrival address bits in the first virtual interface; based on resetting the loading and unloading address bits in the first virtual interface, establish a variable mapping connection between the first virtual interface and the second virtual interface.

[0010] In some optional implementations, the scheduling method further includes: receiving a second value of a material handling address bit sent by the processing equipment, the second value of the material handling address bit of the processing equipment being formed by switching a first value of the material handling address bit of the processing equipment; mapping the second value of the material handling address bit of the processing equipment to the first virtual interface, so that the first value of the material handling address bit in the first virtual interface is switched to the second value; mapping the second value of the material handling address bit in the first virtual interface to the second virtual interface, so that the first value of the material handling address bit in the second virtual interface is switched to the second value; and sending the second value of the material handling address bit in the second virtual interface to the mobile vehicle, so that the mobile vehicle can move materials to the processing equipment.

[0011] In some optional implementations, the scheduling method further includes: receiving a second value of the feeding completion address bit sent by the mobile vehicle, wherein the second value of the feeding completion address bit in the mobile vehicle is formed by switching the first value of the feeding completion address bit in the mobile vehicle; mapping the second value of the feeding completion address bit in the mobile vehicle to the first virtual interface through the second virtual interface, so that the first value of the feeding completion address bit in the first virtual interface is switched to the second value; sending the feeding completion address bit in the first virtual interface as the second value to the processing equipment; and receiving the material receiving feedback from the processing equipment based on the feeding completion address bit in the first virtual interface as the second value. The second value of the receiving completion address bit is completed, and the second value of the receiving completion address bit of the processing equipment is formed by switching the first value of the receiving completion address bit of the processing equipment; the second value of the receiving completion address bit of the processing equipment is mapped to the first virtual interface, so that the first value of the receiving completion address bit of the first virtual interface is switched to the second value; based on the first value of the receiving completion address bit of the first virtual interface being switched to the second value, it is mapped to the second virtual interface, so that the first value of the receiving completion address bit of the second virtual interface is switched to the second value; the second value of the receiving completion address bit in the second virtual interface is sent to the mobile vehicle so that the mobile vehicle stops transporting materials to the processing equipment.

[0012] In some optional implementations, the scheduling method further includes: receiving a second value of the material handling completion address bit of the processing equipment, the second value of the material handling completion address bit of the processing equipment being formed by switching the first value of the material handling completion address bit of the processing equipment; based on the second value of the material handling completion address bit of the processing equipment, switching the first value of the material handling completion address bit in the first virtual interface to the second value; based on the switching of the first value of the material handling completion address bit in the first virtual interface to the second value, disconnecting the variable mapping connection between the first virtual interface and the second virtual interface, and generating a variable mapping disconnection signal; sending the variable mapping disconnection signal to the mobile vehicle so that the mobile vehicle leaves the processing equipment.

[0013] This application also provides a scheduling system, including processing equipment, a central control device, and a mobile vehicle. The central control device has a first virtual interface and a second virtual interface. The processing equipment has a device virtual interface. The first virtual interface is used for communication connection with the processing equipment, and the second virtual interface is used for communication connection with the mobile vehicle. The processing equipment is used to: generate a dispatch signal by using the second value of the loading / unloading address bits in the device virtual interface, and send the dispatch signal. The second value of the loading / unloading address bits in the device virtual interface is generated by switching the first value of the loading / unloading address bits in the device virtual interface. The central control device is used to: receive the dispatch signal; and based on the dispatch signal, switch the first value of the loading / unloading address bits in the first virtual interface to the second value. Based on the first value of the loading / unloading address bit in the first virtual interface being switched to the second value, a mobile vehicle is determined; based on the determined mobile vehicle, a start signal is sent to the mobile vehicle, the start signal carrying the number of the processing equipment; the mobile vehicle is used to: receive the start signal; move to the processing equipment according to the start signal, and feed back an arrival signal to the central control device; the central control device is also used to: receive the arrival signal fed back by the mobile vehicle based on the start signal, and / or receive the arrival confirmation signal generated and sent by the processing equipment based on the arrival of the mobile vehicle to the processing equipment; based on the arrival signal and / or the arrival confirmation signal, establish a variable mapping connection between the first virtual interface and the second virtual interface.

[0014] This application also provides a computer device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor implements the scheduling method when executing the computer program stored in the memory.

[0015] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the scheduling method described above.

[0016] In the scheduling method provided in this application, firstly, when the central control equipment receives the dispatch signal sent by the processing equipment, it switches the first value of the loading / unloading address bit in the first virtual interface to the second value. Based on the switch of the first value of the loading / unloading address bit in the first virtual interface to the second value, a mobile vehicle is determined. It can transmit information to the central control equipment by changing the functional address bit (such as the loading / unloading address bit), which can reduce the operating burden of the central control equipment. Secondly, when the central control device receives the arrival signal from the mobile vehicle based on the start signal feedback, and / or receives the arrival confirmation signal from the processing equipment based on the mobile vehicle's arrival at the processing equipment's output, the central control device can establish a variable mapping connection between the first virtual interface and the second virtual interface. This enables variable mapping between the first and second virtual interfaces without requiring the central control device to parse the meaning of the variable values ​​represented by the function address bits in the virtual interface. This allows the processing equipment and the mobile device to directly perform mapping operations by receiving variables sent by each other. This embodiment of the application not only reduces the operational burden of the central control device and avoids the central control device executing cumbersome logic programs, but also allows the processing equipment to directly interact with the mobile vehicle through the first and second virtual interfaces, improving the efficiency of material scheduling. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the architecture of the scheduling system provided in the embodiments of this application.

[0018] Figure 1A This is a schematic diagram of the architecture of a scheduling system provided in another embodiment of this application.

[0019] Figure 2 This is a flowchart of the scheduling method provided in the embodiments of this application.

[0020] Figure 3 This is a flowchart of determining a mobile vehicle according to an embodiment of this application.

[0021] Figure 4 This is a flowchart of determining a mobile vehicle according to another embodiment of this application.

[0022] Figure 5 This is a flowchart of a scheduling method provided in another embodiment of this application.

[0023] Figure 6 This is a flowchart of a scheduling method provided in another embodiment of this application.

[0024] Figure 7 This is a flowchart of a scheduling method provided in another embodiment of this application.

[0025] Figure 8 This is a flowchart of a scheduling method provided in another embodiment of this application.

[0026] Figure 9 This is a flowchart of a scheduling method provided in another embodiment of this application.

[0027] Figure 10 This application provides a schematic diagram of the structure of a computer device. Detailed Implementation

[0028] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0029] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0030] To address the technical problems of heavy operational burden and low material scheduling efficiency caused by using a central control system for material scheduling, embodiments of this application provide a scheduling method, scheduling system, computer equipment, and readable storage medium. This enables signal interaction between processing equipment and mobile vehicles, reducing the operational burden on the central control system and accelerating material scheduling efficiency. The scheduling system provided in this application embodiment is described below.

[0031] Figure 1This is a schematic diagram of the architecture of the scheduling system provided in this application embodiment. The scheduling system 10 includes a central control device 100, processing equipment 110, and mobile vehicle 120. The central control device 100 can communicate with multiple processing equipment 110 via wired network communication or wireless network communication. The wired network can be any one of a local area network, metropolitan area network, or wide area network. The wireless network can be any one of Bluetooth Technology, Wireless Fidelity (Wi-Fi), Near Field Communication (NFC), ZigBee Wireless Networks (ZigBee), Infrared Data Association (IrDA), Ultra Wideband (UWB), Universal Serial Bus (USB), etc. The communication connection between the central control device 100 and the multiple mobile vehicle 120 can be a wireless network.

[0032] In some embodiments of this application, the central control device 100 can create a corresponding first virtual interface 101 for the processing equipment 110, used for data interaction between the central control device 100 and the processing equipment 110. The central control device 100 can also create a corresponding second virtual interface 102 for the mobile vehicle 120, used for data interaction between the central control device 100 and the mobile vehicle 120. The first virtual interface 101 and the second virtual interface 102 can be created and stored in the central control device 100. Each first virtual interface 101 or second virtual interface 102 can be configured with multiple functional address bits (e.g., ...). Figure 1 The □ shown is used to indicate the corresponding operation. For example, the loading and unloading address in the first virtual interface 101 can be used to instruct the central control device 100 whether to perform a dispatch operation when the processing equipment 110 needs to load or unload materials.

[0033] Figure 1A This is a schematic diagram of the architecture of a scheduling system provided in another embodiment of this application. For example... Figure 1A As shown, the processing equipment 110 is provided with a device virtual interface 1101 for interacting with the first virtual interface 101 of the central control equipment 100, and the mobile vehicle 120 is provided with a vehicle virtual interface 1201 for interacting with the second virtual interface 102 of the central control equipment 100.

[0034] In some embodiments of this application, the central control device 100 can communicate with multiple processing devices 110 and establish communication connections with multiple mobile vehicle-mounted devices 120. The central control device 100 may have multiple first virtual interfaces 101 and second virtual interfaces 102. Different first virtual interfaces 101 can establish communication connections with the device virtual interfaces 1101 of different processing devices 110, and different second virtual interfaces can establish communication connections with the vehicle-mounted virtual interfaces 1201 of different mobile vehicle-mounted devices 120. This application does not limit this. Optionally, for ease of explanation, the aforementioned first virtual interfaces 101, second virtual interfaces 102, device virtual interfaces 1101, and vehicle-mounted virtual interfaces 1201 can be collectively referred to as virtual interfaces. The virtual interfaces in the central control device 100, processing devices 110, and mobile vehicle-mounted devices 120 are not limited to the virtual interfaces listed above, and can be set according to actual needs. It is worth noting that the interaction between the central control device 100, the mobile vehicle 120, and the processing equipment 110 can be entirely through virtual interfaces, or not entirely through virtual interfaces. The central control device 100 can choose whether to use virtual interfaces based on actual needs. For example, when the central control device 100 receives a change from the first value of the loading / unloading address bit in the virtual interface 1101 to the second value, it will change the first value of the loading / unloading address bit in the first virtual interface 101 to the second value. The vehicle virtual interface 1201 can then update its own address bit based on the second value of the loading / unloading address bit in the first virtual interface 101. However, after the mobile vehicle 120 receives a change from the first value of the loading / unloading address bit in the first virtual interface 101 to the second value, it may not update the address bit of the vehicle virtual interface 1201 accordingly. Instead, it can parse the meaning of the change from the first value of the loading / unloading address bit in the first virtual interface 101 to the second value and control itself to perform path planning and move to the processing equipment 110.

[0035] In some embodiments of this application, the central control device 100 establishes a connection with the device virtual interface 1101 of the processing device 110 through the first virtual interface 101, and after the central control device 100 establishes a connection with the vehicle virtual interface 1201 of the mobile vehicle 120 through the second virtual interface 102, the central control device 100 can establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102 according to the received signal (such as an arrival signal or a position confirmation signal). This enables the processing device 110 to achieve consistency in the variable values ​​of multiple functional address bits of the second virtual interface 102 corresponding to the first virtual interface 101 and the mobile vehicle 120, thereby realizing the transmission and interaction of information and reducing the complexity of the execution logic of the central control device 100. In terms of complexity, before the mapping connection between the first virtual interface 101 and the second virtual interface 102 is established, the processing equipment 110 can interact with the mobile vehicle 120 without using the second virtual interface 102, and the mobile vehicle 120 can also interact with the processing equipment 110 without using the first virtual interface 101. After the mapping connection between the first virtual interface 101 and the second virtual interface 102 is established, some or all of the data of the processing equipment 110's device virtual interface 1101 can interact with the mobile vehicle 120 through the second virtual interface 102, and some or all of the data of the mobile vehicle 120's vehicle virtual interface 1201 can also interact with the processing equipment 110 through the first virtual interface 101. The variable values ​​of the function address bits can include a first value and a second value, which can be 0 and 1, or 1 and 0, or other interchangeable values; practical applications are not limited to these.

[0036] In some embodiments of this application, the central control device 100 may be a computer, mobile phone, tablet computer, personal digital assistant (PDA), etc. The processing equipment 110 may be any equipment capable of processing materials, such as a dispensing machine, material cutting equipment, welding equipment, CNC machine tool, and hot pressing equipment. The mobile vehicle 120 may be a semi-autonomous mobile vehicle device, a fully autonomous mobile vehicle device, etc.

[0037] Figure 1 and Figure 1AThis is merely an example of the scheduling system 10 and does not constitute a limitation on the scheduling system 10. It may include more or fewer components than shown, or combine certain components, or different components. For example, the processing equipment 110 in the scheduling system 10 may include a door, a sensor, a controller, and an actuator. The sensor is used to sense whether the mobile vehicle 120 has arrived at the processing equipment 110. The controller is used to control the actuator to open the door when the sensor senses that the mobile vehicle 120 has arrived at the processing equipment 110. The mobile vehicle 120 may include a robot arm, a vehicle, a material carrier platform, and a controller. The controller controls the movement of the vehicle and the robot arm according to the signal from the central control device 100 or the user's instructions, so as to control the robot arm to move the material on the carrier platform into the processing equipment 110, or to control the robot arm to move the processed material in the processing equipment 110 to the carrier platform.

[0038] Please see Figure 2 As shown, Figure 2 This is a flowchart of the scheduling method provided in an embodiment of this application. The scheduling method is applied in the scheduling system 10. To facilitate a clear description of the collaborative operation between devices, Figure 2 The scheduling method shown is described from the perspective of the central control device 100. Depending on different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0039] Step S201: Receive the dispatch signal sent by the processing equipment 110.

[0040] In some embodiments of this application, the processing equipment 110 can be a device for processing various materials. The processed materials can include any type of material selected from metal, plastic, wood, glass, ceramic, composite materials, and other special materials (such as rubber and textiles). Since the processing equipment 110 is usually a large machine, it is generally placed in a fixed location. On the one hand, large machines are inconvenient to move, and on the other hand, large machines need to be fixed to the ground to avoid strong vibrations during processing that could cause safety hazards. Therefore, the central control device 100 and the processing equipment 110 can establish a communication connection through a wired network, which can improve data transmission efficiency and reduce data transmission errors. In practical applications, the central control device 100 and the processing equipment 110 can also establish a communication connection through a wireless network, which is not a limitation of this application.

[0041] The processing equipment 110 can monitor the material processing status, which includes a material request status and a material unloading status. The material request status can be when the processing equipment 110 requests additional material due to a shortage, while the material unloading status can be when the processing equipment 110 has completed processing the material and requests to remove the processed material. Therefore, a dispatch signal can be generated based on the material processing status and sent to the central control equipment 100.

[0042] In some embodiments of this application, the central control device 100 can send data to the processing equipment 110 and receive data sent by the processing equipment 110. For example, the central control device 100 can receive a dispatch signal sent by the processing equipment 110. The dispatch signal can be used to instruct the central control device 100 to select a mobile vehicle 120 for transporting materials for the processing equipment 110 and dispatch the selected mobile vehicle 120 to move to the processing equipment 110.

[0043] Step S202: Based on the dispatch signal of the processing equipment 110, the first value of the loading / unloading address bit in the first virtual interface 101 is switched to the second value.

[0044] In some embodiments of this application, a device virtual interface 1101 is created in the processing device 110. Multiple function address bits can be set in the device virtual interface 1101. Each function address bit is assigned a first value and a second value that can be switched between each other. Each function address bit can represent two different functions by setting the first value and the second value.

[0045] For example, in some examples, the first value of the loading / unloading address bit in the device virtual interface 1101 represents the initial value when the processing device 110 is connected to the central control device 100. When the first value of the loading / unloading address bit in the device virtual interface 1101 is switched to the second value, it indicates that the central control device 100 has received the dispatch signal from the processing device 110 and responded by transmitting it. When the second value of the loading / unloading address bit in the device virtual interface 1101 is switched to the first value, it indicates that the central control device 100 has completed transmitting the dispatch signal and is feeding back to the processing device 110. The first and second values ​​are used to distinguish between two different functions. In practical applications, the first value can be 0 and the second value can be 1. This application does not limit this and the values ​​can also be other parameters.

[0046] In some embodiments of this application, the central control device 100 can establish connections with multiple processing devices 110. Each processing device 110 has a corresponding first virtual interface 101 on the central control device 100. The number of first virtual interfaces 101 is the same as the number of processing devices 110, and each first virtual interface 101 can also be configured with multiple function address bits. When the central control device 100 establishes a communication connection with the processing devices 110, the first virtual interface 101 of the central control device 100 and the device virtual interface 1101 can establish a variable mapping connection. The variable values ​​of the function address bits in the first virtual interface 101 can be mapped to the device virtual interface 1101, and the variable values ​​of the function address bits in the device virtual interface 1101 can be mapped to the first virtual interface 101.

[0047] For example, in some examples, the dispatch signal is generated by switching the loading / unloading address bit of the device virtual interface 1101 from a first value to a second value. Therefore, based on the variable mapping connection established between the device virtual interface 1101 and the first virtual interface 101, the central control device 100 switches the first value of the loading / unloading address bit in the first virtual interface 101 to the second value.

[0048] Step S203: Based on the first value of the loading / unloading address bit in the first virtual interface 101 being switched to the second value, a mobile vehicle 120 is determined.

[0049] In some embodiments of this application, the central control device 100 can be communicatively connected to multiple mobile vehicle-mounted units 120. The number of mobile vehicle-mounted units 120 can be the same as or less than the number of processing equipment 110. For example, if there are three processing equipment 110, then each of the three processing equipment 110 can correspond to one mobile vehicle-mounted unit 120 for transporting materials. In some embodiments, one processing equipment 110 can correspond to at least one mobile vehicle-mounted unit 120, and the mobile vehicle-mounted units 120 can process equipment 110. Optionally, the number of mobile vehicle-mounted units 120 can be less than the number of processing equipment 110, and this application does not limit this.

[0050] In some embodiments of this application, after the central control device 100 switches the first value of the loading / unloading address bit in the first virtual interface 101 to the second value, the central control device 100 can read the start signal generated when the loading / unloading address bit in the first virtual interface 101 is at the second value. The start signal may indicate that the central control device 100 needs to select a mobile vehicle 120 to move to the corresponding processing equipment 110. At this time, the central control device 100 can determine a mobile vehicle 120 from multiple mobile vehicles 120 as the vehicle for transporting materials according to a preset vehicle selection rule. The preset vehicle selection rule may be to prioritize the mobile vehicle 120 corresponding to the smallest vehicle number, or to prioritize the mobile vehicle 120 closest to the processing equipment 110. This can be referred to in conjunction with reference to, for example, Figure 3 Or such as Figure 4 The embodiments shown are not intended to limit the scope of this application.

[0051] Step S204: Based on the determined mobile vehicle 120, send a start signal to the mobile vehicle 120.

[0052] In some embodiments of this application, after the central control device 100 determines the mobile vehicle 120, it can send a start signal to the mobile vehicle 120. The start signal can carry the number of the processing equipment 110, so that the mobile vehicle 120 can move to the location of the processing equipment 110 corresponding to the number. The mobile vehicle 120 can be equipped with sensors, such as LiDAR. During the movement, the mobile vehicle 120 can determine whether it has reached the location of the processing equipment 110 through the LiDAR. The actual application is not limited to this. For example, navigation can also be performed through the Global Positioning System (GPS).

[0053] Step S205: Receive the arrival signal from the mobile vehicle 120 based on the start signal feedback, and / or receive the arrival confirmation signal from the processing equipment 110 based on the arrival of the mobile vehicle 120 at the processing equipment 110.

[0054] In some embodiments of this application, after sending a start signal to the mobile vehicle 120, if an arrival signal is received from the mobile vehicle 120, it indicates that the central control device 100 has determined that the mobile vehicle 120 has arrived at the processing device 110. After receiving the arrival signal, the central control device 100 can transmit the message that the mobile vehicle 120 has arrived at the processing device 110 to the processing device 110. After issuing a dispatch signal, the processing device 110 can also obtain the message that the mobile vehicle 120 has arrived at the processing device 110 through polling. Polling is a way of periodically issuing queries. For example, the processing device 110 can periodically query the central control device 100 whether the mobile vehicle 120 has arrived and wait for the response from the central control device 100. If the processing device 110 does not receive a response from the central control device 100, the processing device 110 can start the next polling.

[0055] In some other embodiments of this application, if the central control device 100 receives a arrival confirmation signal sent by the processing device 110, it means that the central control device 100 has received feedback from the processing device 110 confirming that the mobile vehicle 120 has arrived at the processing device 110.

[0056] Step S206: Based on the arrival signal and / or the arrival determination signal, establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102.

[0057] In some embodiments of this application, the central control device 100 also has multiple second virtual interfaces 102 corresponding to multiple mobile vehicle 120s. The second virtual interface 102 can be configured with multiple functional address bits, and each functional address bit is assigned a first value and a second value that can be switched between each other.

[0058] In some embodiments of this application, when the central control device 100 receives an arrival signal, it determines that the mobile vehicle 120 has arrived at the processing equipment 110. The central control device 100 can establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102, and map the variables of each functional address bit of the first virtual interface 101 to the variables of each functional address bit of the second virtual interface 102.

[0059] For example, in one example, the first virtual interface 101 has a first value and a second value for the material handling address bit, and the second virtual interface 102 also has a first value and a second value for the material handling address bit. When the material handling address bit of the first virtual interface 101 changes from the first value to the second value, the material handling address bit is mapped to the second virtual interface 102 so that the material handling address bit of the second virtual interface 102 changes from the first value to the second value. The above is just an example, and the actual application is not limited to this.

[0060] In some other embodiments of this application, when the central control device 100 receives the position confirmation signal, it determines that the mobile vehicle 120 has arrived at the processing equipment 110. At this time, the central control device 100 establishes a variable mapping connection between the first virtual interface 101 and the second virtual interface 102 based on the position confirmation signal, and maps the variables of each functional address bit of the first virtual interface 101 to the variables of each functional address bit of the second virtual interface 102.

[0061] In some other embodiments of this application, when the central control device 100 receives both the arrival signal and the arrival confirmation signal, the central control device 100 can establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102, and map the variables of each functional address bit of the first virtual interface 101 to the variables of each functional address bit of the second virtual interface 102.

[0062] In this embodiment, when the central control device 100 receives the dispatch signal sent by the processing device 110, it switches the first value of the loading / unloading address bit in the first virtual interface 101 to the second value. The second value of the loading / unloading address bit indicates that the central control device 100 is triggered to select the mobile vehicle 120. Information can be transmitted to the central control device 100 by changing the value of the corresponding function address bit. The central control device 100 does not need to execute complex control logic, which can reduce the operating burden of the central control device 100.

[0063] Secondly, based on the second value of the loading / unloading address bit in the first virtual interface 101 of the central control device 100, a mobile vehicle 120 is determined, and a start signal is sent to the mobile vehicle 120 so that the mobile vehicle 120 can move to the processing equipment 110. This allows the central control device 100 to respond to the signal sent by the processing equipment 110 in a timely manner, which to a certain extent speeds up the efficiency of determining the mobile vehicle 120.

[0064] Finally, when the central control device 100 receives the arrival signal from the mobile vehicle 120 based on the start signal feedback, and / or receives the arrival confirmation signal from the processing equipment 110 based on the arrival of the mobile vehicle 120 at the processing equipment 110, it can establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102 in the central control device 100. This allows the processing equipment 110 or the mobile device to directly execute corresponding operations by receiving the variable mapping sent by the other party. This embodiment of the application can not only reduce the operating burden of the central control device 100 and avoid the central control device 100 from executing cumbersome logic programs, but also allow the processing equipment 110 to directly interact with the mobile vehicle 120 through the first virtual interface 101 and the second virtual interface 102, thereby improving the efficiency of material scheduling.

[0065] Please see Figure 3 As shown, Figure 3 This is a flowchart illustrating the determination of a mobile vehicle 120 according to an embodiment of this application. Multiple mobile vehicle 120s are available, and the central control device 100 can be equipped with multiple second virtual interfaces 102. Each second virtual interface 102 is communicatively connected to a corresponding mobile vehicle 120. When it is necessary to determine a mobile vehicle 120, the determination can be made based on the obtained connection status of the multiple second virtual interfaces 102. Based on this, a flowchart is provided as follows... Figure 3 The illustrated embodiments, such as Figure 3 The embodiments shown are as follows Figure 2 An example of a specific implementation of step S203 shown includes the following steps:

[0066] Step S301: Based on the first value of the loading / unloading address bit in the first virtual interface 101 being switched to the second value, the connection status of multiple second virtual interfaces 102 is obtained.

[0067] In some embodiments of this application, the connection status of each second virtual interface 102 in the central control device 100 refers to the connection status between the second virtual interface 102 and the first virtual interface 101. The connection status can include a disconnected state and a mapped connection state. When the second virtual interface 102 is in a disconnected state, it indicates that the second virtual interface 102 is not occupied. When the second virtual interface 102 is in a working mapped connection state, it indicates that the second virtual interface 102 has been occupied and the communication connection is with the corresponding mobile vehicle 120.

[0068] In some embodiments of this application, the central control device 100 switches the first value of the loading / unloading address bit in the first virtual interface 101 to the second value to generate indication information. The indication information may be an instruction for the central control device 100 to obtain the connection status of multiple second virtual interfaces 102 and a first virtual interface 101.

[0069] Step S302: Based on the connection status of multiple second virtual interfaces 102, select the second virtual interface 102 that is in the disconnected state.

[0070] In some embodiments of this application, since the second virtual interface 102 is in a disconnected state, it can be indicated that the second virtual interface 102 in the disconnected state is not mapped to the first virtual interface 101. Therefore, before determining the mobile vehicle 120, each second virtual interface 102 in a disconnected state can be obtained from multiple second virtual interfaces 102 so as to establish a connection with the corresponding mobile vehicle 120 through the second virtual interface 102.

[0071] Step S303: From the second virtual interface 102 that is in the disconnected state, determine a second virtual interface 102 according to a preset priority to determine the corresponding mobile vehicle 120.

[0072] In some embodiments of this application, each second virtual interface 102 corresponds to a mobile vehicle 120. The interface number of each virtual interface can be the same as the vehicle number of the mobile vehicle 120. For example, the second virtual interface 102 with interface number 1 corresponds to the mobile vehicle 120 with vehicle number 1, and the second virtual interface 102 with interface number 2 corresponds to the mobile vehicle 120 with vehicle number 2. In another embodiment, the interface number and the corresponding vehicle number can be in a corresponding relationship. For example, the second virtual interface 102 with interface number 1 corresponds to the mobile vehicle 120 with vehicle number A, and the second virtual interface 102 with interface number 2 corresponds to the mobile vehicle 120 with vehicle number B. When using a corresponding numbering system, a corresponding relationship table needs to be set in both the central control device 100 and the mobile vehicle 120. This application does not restrict the setting of the relationship between the interface number and the corresponding vehicle number.

[0073] In some embodiments of this application, all second virtual interfaces 102 are prioritized according to their interface numbers. For example, the interface number is negatively correlated with the priority of calling the mobile vehicle 120; that is, the second virtual interface 102 with the smallest interface number has the highest priority, and the second virtual interface 102 with the largest interface number has the lowest priority. In other embodiments, the interface number is positively correlated with the priority of calling the mobile vehicle 120; that is, the second virtual interface 102 with the largest interface number has the highest priority, and the second virtual interface 102 with the smallest interface number has the lowest priority.

[0074] In some embodiments of this application, the target interface number corresponding to each second virtual interface 102 in the disconnected state is obtained. Taking the negative correlation between the interface number and the priority of calling the mobile vehicle 120 as an example, the multiple target interface numbers are sorted by priority.

[0075] For example, in some cases, multiple target interface numbers include: target interface number 2, target interface number 5, and target interface number 7. The result of sorting by priority is: target interface number 2 has a higher priority than target interface number 5, and target interface number 5 has a higher priority than target interface number 7. This is just an example; there may be more or fewer target interfaces than in this example.

[0076] In some embodiments of this application, after prioritizing multiple target interface numbers, the second virtual interface 102 corresponding to the target interface number with the highest priority is selected from the priority sort, and the mobile vehicle 120 corresponding to the second virtual interface 102 with the highest priority is determined as the vehicle for transporting materials.

[0077] In the embodiments of this application, the second virtual interface 102 is connected to the mobile vehicle 120. When selecting the mobile vehicle 120, the second virtual interface 102 in the disconnected state and the corresponding target interface number are obtained according to the connection status of the second virtual interface 102. The second virtual interface 102 corresponding to the target interface number with the highest priority is selected to determine a mobile vehicle 120, which improves the efficiency of the central control device 100 in determining the mobile vehicle 120.

[0078] Please see Figure 4 As shown, Figure 4 This is a flowchart illustrating the determination of the mobile vehicle 120 according to another embodiment of this application. The central control device 100 may be equipped with multiple second virtual interfaces 102. When it is necessary to determine the mobile vehicle 120, the determination can be based on the acquired connection status of the mobile vehicle 120 and the distance between the mobile vehicle 120 and the processing equipment 110. Based on this, a flowchart is provided as follows... Figure 4 The illustrated embodiments, such as Figure 4 The embodiments shown are as follows Figure 2 An example of a specific implementation of step S203 shown includes the following steps:

[0079] Step S401: Based on the first value of the loading / unloading address bit in the first virtual interface 101, switch to the second value to obtain the working status of multiple mobile vehicle 120s.

[0080] In some embodiments of this application, the working status of the mobile vehicle 120 may include a working state and a non-working state. When the mobile vehicle 120 is in a non-working state, it may indicate that the mobile vehicle 120 is in an idle state or a dormant state. When the mobile vehicle 120 is in a working state, it may indicate that the mobile vehicle 120 is performing actions such as moving or transporting materials.

[0081] In some embodiments of this application, the indication information formed when the first value of the loading / unloading address bit in the first virtual interface 101 is switched to the second value can instruct the central control device 100 to obtain the working status of multiple mobile vehicle 120s. In one example, the central control device 100 can send a query request to the workshop to obtain the working status reported by each mobile vehicle 120. The actual application is not limited to this.

[0082] Step S402: Based on the working status of multiple mobile vehicle-mounted units 120, select the mobile vehicle-mounted unit 120 that is in a non-working state.

[0083] In some embodiments of this application, if the mobile vehicle 120 is in a non-working state, it means that the mobile vehicle 120 is in an idle or dormant state and can be used to perform tasks. Therefore, the mobile vehicle 120 in a non-working state can be selected from multiple mobile vehicle 120s.

[0084] Step S403: Select a mobile vehicle 120 from the mobile vehicle 120s that are not in operation, according to a preset priority.

[0085] In some embodiments of this application, after identifying a non-operating mobile vehicle 120, the non-operating mobile vehicle 120 can be designated as a target mobile vehicle 120. There can be one or more target mobile vehicles 120. When multiple target mobile vehicles 120 are detected, the central control device 100 can receive first location information from each target mobile vehicle 120. The central control device 100 can also receive second location information from the processing device 110; this application does not limit this aspect.

[0086] After obtaining the first location information and the second location information, the target distance between the processing equipment 110 and each target mobile vehicle 120 can be calculated based on the first location information and the second location information. The target distance and priority can be negatively correlated. For example, the target mobile vehicle 120 that is closer to the processing equipment 110 has a higher priority. Therefore, the target mobile vehicle 120 with the highest priority can be selected according to the priority from high to low, that is, the target mobile vehicle 120 that is closest to the processing equipment 110, and the target mobile vehicle 120 with the highest priority can be used as the vehicle to transport materials to the processing equipment 110.

[0087] In the embodiments of this application, the target mobile vehicle 120 in the disconnected state is obtained according to the working status of the mobile vehicle 120. Then, the priority of the target mobile vehicle is determined according to the distance between the processing equipment 110 and the target mobile vehicle 120. For example, the smaller the distance, the higher the priority. Prioritizing the allocation of high-priority vehicles as working vehicles can reduce the movement time of the mobile vehicle 120 and improve the efficiency of material scheduling to a certain extent.

[0088] Please see Figure 5 As shown, Figure 5 This is a flowchart of a scheduling method provided in another embodiment of this application. For example... Figure 5 The embodiments shown are as follows Figure 2 In one specific embodiment of step S206 shown, the dispatch signal includes a second value of the loading / unloading address bits in the processing equipment 110. The second value of the loading / unloading address bits in the processing equipment 110 is formed by switching the first value of the loading / unloading address bits in the processing equipment 110. Step S206 establishes a variable mapping connection between the first virtual interface 101 and the second virtual interface 102 based on the arrival signal, including the following steps:

[0089] Step S501: Based on the arrival signal, switch the first value of the arrival address bit in the first virtual interface 101 to the second value.

[0090] In some embodiments of this application, the arrival signal can be feedback from the mobile vehicle 120 to the central control device 100, indicating that the mobile vehicle 120 has arrived at the processing equipment 110. The first virtual interface 101 in the central control device 100 is used for communication connection with the processing equipment 110. The first virtual interface 101 has multiple functional address bits, and each functional address bit has a switchable first value and a second value.

[0091] In some embodiments of this application, when the central control device 100 receives an arrival signal from the mobile vehicle 120, it analyzes the information carried by the arrival signal. For example, if the arrival signal carries an actual number or actual location that matches the number or location of the pre-stored processing equipment 110, it indicates that the mobile vehicle 120 has arrived at the corresponding processing equipment 110. The central control device 100 can then transmit a prompt message to the processing equipment 110 indicating that the mobile vehicle 120 has arrived. Specifically, the central control device 100 can switch the first value of the arrival address bit in the first virtual interface 101 to a second value. The second value of the arrival address bit in the first virtual interface 101 can indicate that the mobile vehicle 120 has arrived.

[0092] Step S502: Send the arrival address bit of the first virtual interface 101 to the processing equipment 110 with the second value.

[0093] In some embodiments of this application, the central control device 100 may send variable information in the first virtual interface 101 to the processing device 110 when it receives a poll initiated by the processing device 110. For example, after the central control device 100 switches the first value of the first virtual interface 101 to the second value, it may send the arrival address bit of the first virtual interface 101 to the processing device 110 only when it receives a poll from the processing device 110.

[0094] In another embodiment of this application, the central control device 100 can send variable information of each functional address bit in the first virtual interface 101 to the processing device 110 in real time or periodically. For example, when the arrival address bit in the first virtual interface 101 of the central control device 100 is switched to the second value, it can send the second value of the arrival address bit in the first virtual interface 101 to the processing device 110 at the same time as the arrival address bit switching operation. It can also send the second value of the arrival address bit in the first virtual interface 101 to the processing device 110 based on a preset sending time.

[0095] Step S503: Receive the dispatch reset signal fed back by the processing equipment 110 based on the arrival address bit in the first virtual interface 101 being a second value.

[0096] In some embodiments of this application, the processing equipment 110 has a device virtual interface 1101, which contains multiple functional address bits, each of which has a switchable first value and a second value. When the central control device 100 establishes a communication connection with the processing equipment 110, the device virtual interface 1101 and the first virtual interface 101 are connected by a variable mapping connection. After the variable mapping connection is established, when a functional address bit in the first virtual interface 101 changes, the central control device 100 maps the resulting change value to the device virtual interface 1101, so that the functional address bit in the device virtual interface 1101 also changes accordingly. Similarly, when a mapping indicating a change in the functional address bit in the device virtual interface 1101 is received, the functional address bit in the first virtual interface 101 in the central control device 100 also changes accordingly.

[0097] In some embodiments of this application, based on the variable mapping connection between the processing equipment 110 and the central control equipment 100, when the arrival address bit in the first virtual interface 101 is switched to the second value, the central control equipment 100 maps the arrival address bit in the first virtual interface 101 to the device virtual interface 1101 with the second value, so that the arrival address bit of the device virtual interface 1101 is switched to the second value, and thus the trigger condition for the processing equipment 110 to generate a dispatch reset signal is generated.

[0098] If the central control device 100 receives a dispatch reset signal from the processing equipment 110, it indicates that the processing equipment 110 has confirmed the arrival of the mobile vehicle 120. This can be achieved by switching the arrival address bit of the equipment virtual interface 1101 to a second value, triggering the processing equipment 110 to reset the loading / unloading address bits of the equipment virtual interface 1101, thus generating the dispatch reset signal. Furthermore, when the processing equipment 110 switches the arrival address bit of the equipment virtual interface 1101 to the second value, it can initiate loading / unloading preparations. For example, it can control the opening of the processing equipment 110 door to allow the robotic arm of the mobile vehicle 120 to transport materials into the processing equipment 110. However, practical applications are not limited to this.

[0099] Step S504: Based on the dispatch reset signal, reset the loading / unloading address bits and / or reset the arrival address bits in the first virtual interface 101.

[0100] In some embodiments of this application, when the central control device 100 receives a dispatch reset signal from the processing device 110, it can reset the function address bits in the first virtual interface 101 that are not in the initial value (such as the first value) so as to end the operation indicated when the function address bits are in the second value.

[0101] In some embodiments of this application, the dispatch reset signal is generated by the processing equipment 110 resetting the loading / unloading address bits of the equipment virtual interface 1101. Therefore, when the central control equipment 100 receives the dispatch reset signal, it also receives that the loading / unloading address bits of the equipment virtual interface 1101 are at a first value. Based on the variable mapping connection between the equipment virtual interface 1101 and the first virtual interface 101, the central control equipment 100 switches the loading / unloading address bits in the first virtual interface 101 from a second value to a first value, that is, resets the loading / unloading address bits in the first virtual interface 101. In addition, when the central control equipment 100 receives the dispatch reset signal, it can also reset the arrival address bits in the first virtual interface 101, that is, switch the arrival address bits in the first virtual interface 101 from a second value to a first value. Resetting the loading / unloading address bits and / or resetting the arrival address bits in the first virtual interface 101 can indicate that the central control equipment 100 has received feedback from the processing equipment 110 that the moving vehicle has arrived.

[0102] Based on the variable mapping connection between the device virtual interface 1101 and the first virtual interface 101, the central control device 100 can map the arrival address bit in the first virtual interface 101 to the device virtual interface 1101 as the first value, so that the arrival address bit of the device virtual interface 1101 is switched to the first value.

[0103] Step S505: Based on resetting the loading / unloading address bits in the first virtual interface 101, establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102.

[0104] In some embodiments of this application, resetting the loading / unloading address bits in the first virtual interface 101 can indicate that the central control device 100 no longer needs to perform the operation of selecting the mobile vehicle 120, or it can indicate that the central control device 100 has already selected a mobile vehicle 120. In this case, the central control device 100 can perform control operations on the mobile vehicle 120. Therefore, resetting the loading / unloading address bits in the first virtual interface 101 can trigger the central control device 100 to establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102, mapping the variables of each functional address bit of the first virtual interface 101 to the variables of each functional address bit of the second virtual interface 102. A detailed description of establishing the variable mapping connection between the first virtual interface 101 and the second virtual interface 102 in step S505 can be found in the following... Figure 2 Step S206 in the illustrated embodiment will not be described again here.

[0105] In the embodiments of this application, based on the switching and reset operations of the functional address bits, it is possible to avoid setting complex logic programs in the central control device 100, reduce the operating burden of the central control device 100, and to a certain extent reduce the execution time of material scheduling. Establishing a variable mapping connection between the first virtual interface 101 and the second virtual interface 102 can avoid performing complex conversion signal operations in the central control device 100, and enable the processing equipment 110 and the mobile vehicle 120 to perform variable mapping through the first virtual interface 101 and the second virtual interface 102 connected to the central control device 100, thereby improving the efficiency of material scheduling.

[0106] Please see Figure 6 As shown, Figure 6 This is a flowchart of a scheduling method provided in another embodiment of this application. For example... Figure 6 The embodiments shown are as follows Figure 2 An example of a specific implementation of step S206 shown includes the following steps:

[0107] Step S601: Based on the arrival address bit in the mobile vehicle 120 being a second value, it is mapped to the second virtual interface 102, so that the first value of the arrival address bit in the second virtual interface 102 is switched to the second value.

[0108] In some embodiments of this application, each mobile vehicle 120 has a vehicle virtual interface 1201, and each vehicle virtual interface 1201 has multiple functional address bits, each functional address bit having a switchable first value and a second value. When the central control device 100 establishes a communication connection with the mobile vehicle 120, the vehicle virtual interface 1201 and the second virtual interface 102 can be a variable mapping connection. For example, when the functional address bits in the second virtual interface 102 change, the central control device 100 maps the resulting change value to the vehicle virtual interface 1201, so that the functional address bits in the vehicle virtual interface 1201 also change accordingly.

[0109] In some embodiments of this application, based on the variable mapping connection between the virtual interface and the second virtual interface 102, when the second virtual interface 102 receives a mapping where the arrival address bit in the mobile vehicle 120 is a second value, the first value of the arrival address bit in the second virtual interface 102 is switched to the second value. The arrival address bit in the second virtual interface 102 being a second value can indicate that the central control device 100 has received an arrival signal from the mobile vehicle 120 based on the start signal feedback. The arrival signal is formed by the arrival address bit in the mobile vehicle 120 being a second value, and the start signal is a signal sent by the central control device 100 to the mobile vehicle 120 to instruct the mobile vehicle 120 to start moving.

[0110] Step S602: Based on the first value of the arrival address bit in the second virtual interface 102 being switched to the second value, the first value of the arrival address bit in the first virtual interface 101 is switched to the second value.

[0111] In some embodiments of this application, when the central control device 100 detects that the first value of the arrival address bit in the second virtual interface 102 has switched to the second value, the central control device 100 can analyze the arrival address bit in the second virtual interface 102 being the second value to obtain the meaning represented by the arrival address bit in the second virtual interface 102 being the second value. For example, when the arrival address bit in the second virtual interface 102 changes to the second value, the meaning represented by the arrival address bit in the second virtual interface 102 being the second value is obtained and parsed as the mobile vehicle 120 has arrived at the processing equipment 110. Therefore, based on the arrival address bit in the second virtual interface 102 being the second value, the central control device 100 determines that the mobile vehicle 120 has arrived.

[0112] In some embodiments of this application, after determining that the mobile vehicle 120 has arrived, the central control device 100 can transmit a message that the mobile vehicle 120 has arrived to the processing device 110. Since the processing device 110 establishes a communication connection with the first virtual interface 101 of the central control device 100, the central control device 100 can switch the first value of the arrival address bit in the first virtual interface 101 to the second value to transmit a signal to the processing device 110 through variable mapping.

[0113] Step S603: Send the arrival address bit of the first virtual interface 101 to the processing equipment 110 with the second value.

[0114] Step S604: Receive the dispatch reset signal fed back by the processing equipment 110 based on the arrival address bit in the first virtual interface 101 being a second value.

[0115] Step S605: Based on the dispatch reset signal, reset the loading / unloading address bits and / or reset the arrival address bits in the first virtual interface 101.

[0116] Step S606: Based on resetting the loading / unloading address bits in the first virtual interface 101, establish a variable mapping connection between the first virtual interface 101 and the second virtual interface 102.

[0117] In some embodiments of this application, the specific descriptions of steps S603 to S606 can be found in, for example... Figure 5 The descriptions of steps S502 to S505 in the illustrated embodiment will not be repeated here.

[0118] In the embodiments of this application, the variable mapping connection between the virtual interface and the second virtual interface 102 can improve the interaction efficiency between the central control device 100 and the mobile vehicle 120, while also avoiding the central control device 100 from executing complex control logic.

[0119] Please see Figure 7 As shown, Figure 7 This is a flowchart of a scheduling method provided in another embodiment of this application. For example... Figure 7 The illustrated embodiments can be implemented as follows: Figure 2 Based on the illustrated embodiment, after establishing a variable mapping connection between the first virtual interface 101 and the second virtual interface 102, an example of a specific implementation of the interaction between the first virtual interface 101 and the second virtual interface 102 is given. Specifically, this example shows a processing device 110 instructing a mobile vehicle 120 to start material handling, including the following steps:

[0120] Step S701: Receive the second value of the material handling address bit sent by the processing equipment 110.

[0121] In some embodiments of this application, the first value of the material handling address bit in the device virtual interface 1101 is switched to the second value to form a material handling request signal, which instructs the mobile vehicle 120 to transport unprocessed materials to the processing equipment 110. It can also be used to instruct the mobile vehicle 120 to transport processed materials from the processing equipment 110 to the mobile vehicle 120. This application does not limit this.

[0122] Step S702: Based on the second value of the material handling address bit of the processing equipment 110, map it to the first virtual interface 101, so that the first value of the material handling address bit in the first virtual interface 101 is switched to the second value.

[0123] In some embodiments of this application, based on the variable mapping connection established between the device virtual interface 1101 and the first virtual interface 101, when the first virtual interface 101 receives the second value of the material handling address bit of the processing device 110, it switches the first value of the material handling address bit in the first virtual interface 101 to the second value, so as to synchronize the variable value of the function address bit in the device virtual interface 1101 with the variable value in the first virtual interface 101.

[0124] Step S703: Based on the first value of the material handling address bit in the first virtual interface 101 being switched to the second value, it is mapped to the second virtual interface 102, so that the first value of the material handling address bit in the second virtual interface 102 is switched to the second value.

[0125] In some embodiments of this application, based on the variable mapping connection established between the first virtual interface 101 and the second virtual interface 102, the variable values ​​in the first virtual interface 101 can be mapped to the second virtual interface 102. When the material handling address bit in the first virtual interface 101 is a second value, the material handling address bit being a second value can be mapped to the second virtual interface 102, so that the first value of the material handling address bit in the second virtual interface 102 is switched to the second value.

[0126] Step S704: Send the second value of the material handling address bit in the second virtual interface 102 to the mobile vehicle 120 so that the mobile vehicle 120 can handle materials to the processing equipment 110.

[0127] In some embodiments of this application, based on the variable mapping connection established between the second virtual interface 102 and the vehicle virtual interface 1201, the central control device 100 can send the material handling address bit in the second virtual interface 102 to the mobile vehicle 120 with a second value. Then, the material handling address bit in the vehicle virtual interface 1201 of the mobile vehicle 120 will switch from a first value to a second value to perform material handling to the processing equipment 110.

[0128] In some other embodiments, after the mobile vehicle 120 moves materials to the processing equipment 110, if the central control device 100 receives a material handling address bit sent by the processing equipment 110 that changes from a second value to a first value and is mapped to the first virtual interface 101, then the material handling address bit of the first virtual interface 101 changes to the first value and is mapped to the second virtual interface 102. Then the material handling address bit of the second virtual interface 102 changes to the first value and sends the material handling address bit of the second virtual interface 102 to the vehicle virtual interface 1201, so that the mobile vehicle 120 can receive feedback that the material has arrived at the material tray of the processing equipment 110, or that the material has been moved from the processing equipment 110 to the mobile vehicle 120.

[0129] In the embodiments of this application, based on the variable mapping connection established between the first virtual interface 101 and the second virtual interface 102, the processing equipment 110 can instruct the mobile vehicle 120 to perform corresponding operations (such as material handling) through variable mapping. The mobile vehicle 120 can also report the execution status to the processing equipment 110 through variable mapping. This reduces the information parsing of the processing equipment 110 and the mobile vehicle 120 by the central control equipment 100 and improves the efficiency of material scheduling.

[0130] Please see Figure 8 As shown, Figure 8 This is a flowchart of a scheduling method provided in another embodiment of this application. For example... Figure 8 The illustrated embodiment is as follows: Figure 2Based on the illustrated embodiment, an example of a specific implementation of the interaction between the first virtual interface 101 and the second virtual interface 102 includes the following steps:

[0131] Step S801: Receive the second value of the feeding completion address bit sent by the mobile vehicle 120.

[0132] In some embodiments of this application, based on the variable mapping connection established between the vehicle virtual interface 1201 and the second virtual interface 102, the central control device 100 can receive the second value of the feeding completion address bit sent by the mobile vehicle 120. The second value of the feeding completion address bit sent by the mobile vehicle 120 is formed by switching the first value. The second value of the feeding completion address bit sent by the mobile vehicle 120 can indicate that the mobile vehicle 120 has transported the material on the vehicle to the processing equipment 110, or indicate that the mobile vehicle 120 has transferred the material on the processing equipment 110 to the mobile vehicle 120.

[0133] In step S802, based on the second value of the feeding completion address bit of the mobile vehicle 120, it is mapped to the first virtual interface 101 through the second virtual interface 102, so that the first value of the feeding completion address bit in the first virtual interface 101 is switched to the second value.

[0134] In some embodiments of this application, when the second virtual interface 102 receives the mapping of the second value of the feeding completion address bit of the mobile vehicle 120, the first value of the feeding completion address bit in the second virtual interface 102 is switched to the second value, and the second value of the feeding completion address bit in the second virtual interface 102 is mapped to the first virtual interface 101, so that the first value of the feeding completion address bit in the first virtual interface 101 is switched to the second value.

[0135] Step S803: Send the second value to the feeding completion address bit in the first virtual interface 101 of the processing equipment 110.

[0136] In some embodiments of this application, the central control device 100 can send variable information from the first virtual interface 101 to the processing device 110 when it receives a polling request initiated by the processing device 110. The central control device 100 can also send the variable information from the first virtual interface 101 to the processing device 110 in real time or periodically. For a detailed description, please refer to... Figure 5 Step S502 in the illustrated embodiment will not be described again here.

[0137] In some embodiments of this application, based on the variable mapping connection relationship between the first virtual interface 101 and the device virtual interface 1101, the central control device 100 can send the material feeding completion address bit in the first virtual interface 101 to the processing device 110 as a second value, so that the first value of the material feeding completion address bit in the device virtual interface 1101 of the processing device 110 is switched to the second value, triggering the processing device 110 to start detecting whether the material on the material tray of the processing device 110 has arrived. The processing device 110 can use a light interrupter to check whether the material on the material tray has arrived, which is not limited in this application.

[0138] Step S804: Receive the second value of the receiving completion address bit of the processing device 110 based on the second value of the feeding completion address bit in the first virtual interface 101.

[0139] In some embodiments of this application, the second value of the receiving completion address bit of the processing equipment 110 is formed by switching the first value of the receiving completion address bit of the processing equipment 110. The first value of the receiving completion address bit of the processing equipment 110 can be an initial value, and the second value of the receiving completion address bit of the processing equipment 110 can indicate that the processing equipment 110 has determined that the material has arrived at the material tray of the processing equipment 110.

[0140] Step S805: Map the second value of the receiving completion address bit of the processing equipment 110 to the first virtual interface 101, so that the first value of the receiving completion address bit of the first virtual interface 101 is switched to the second value.

[0141] In some embodiments of this application, based on the variable mapping connection established between the device virtual interface 1101 and the first virtual interface 101, when the central control device 100 receives the second value of the receiving completion address bit of the processing device 110, it maps it to the first virtual interface 101, and then the receiving completion address bit of the first virtual interface 101 switches from the first value to the second value.

[0142] Step S806: Based on the first value of the receiving completion address bit of the first virtual interface 101, the first value is switched to the second value and mapped to the second virtual interface 102, so that the first value of the receiving completion address bit of the second virtual interface 102 is switched to the second value.

[0143] In some embodiments of this application, based on the variable mapping connection established between the first virtual interface 101 and the second virtual interface 102, the second value of the receiving completion address bit of the first virtual interface 101 can be mapped to the second virtual interface 102, and then the first value of the receiving completion address bit of the second virtual interface 102 is switched to the second value.

[0144] In step S807, the second value of the receiving completion address bit in the second virtual interface 102 is sent to the mobile vehicle 120 so that the mobile vehicle 120 stops transporting materials to the processing equipment 110.

[0145] In some embodiments of this application, based on the variable mapping connection established between the second virtual interface 102 and the vehicle virtual interface 1201, the central control device 100 can send the second value of the receiving completion address bit in the second virtual interface 102 to the mobile vehicle 120, so that the receiving completion address bit of the vehicle virtual interface 1201 is switched from the first value to the second value. Based on the receiving completion address bit of the vehicle virtual interface 1201 being the second value, the mobile vehicle 120 can switch the feeding completion address bit of the vehicle virtual interface 1201 from the second value to the first value, so that the mobile vehicle 120 stops transporting materials to the processing equipment 110.

[0146] In other embodiments of this application, after the mobile vehicle 120 stops transporting materials to the processing equipment 110, the feeding completion address bit and receiving completion address bit of each virtual interface can be reset to trigger, as shown in the following embodiments. Figure 9 The execution of the illustrated embodiment is as follows: the mobile vehicle 120 switches the feeding completion address bit of the vehicle virtual interface 1201 from the second value to the first value and maps it to the second virtual interface 102, then the feeding completion address bit of the second virtual interface 102 switches from the second value to the first value; the feeding completion address bit of the second virtual interface 102 switches from the second value to the first value and maps it to the first virtual interface 101, then the feeding completion address bit of the first virtual interface 101 switches from the second value to the first value; the feeding completion address bit of the first virtual interface 101 switches from the second value to the first value and maps it to the device virtual interface 1101, then the feeding completion address bit of the device virtual interface 1101 switches from the second value to the first value.

[0147] Based on the fact that the feeding completion address bit of the device virtual interface 1101 is switched from the second value to the first value, the processing equipment 110 switches the receiving completion address bit of the device virtual interface 1101 to the first value and maps it to the first virtual interface 101, so the receiving completion address bit of the first virtual interface 101 is switched to the first value; the receiving completion address bit of the first virtual interface 101 is switched to the first value and mapped to the second virtual interface 102, so the receiving completion address bit of the second virtual interface 102 is switched to the first value; the receiving completion address bit of the second virtual interface 102 is switched to the first value and mapped to the vehicle virtual interface 1201, so the receiving completion address bit of the vehicle virtual interface 1201 is switched to the first value.

[0148] In the embodiments of this application, based on the variable mapping connection established between the first virtual interface 101 and the second virtual interface 102, the processing equipment 110 can instruct the mobile vehicle 120 to perform corresponding operations (e.g., stop material handling) through variable mapping. The mobile vehicle 120 can also report the execution status to the processing equipment 110 through variable mapping. This can reduce the control of the central control equipment 100 on the processing equipment 110 and the mobile vehicle 120, and improve the efficiency of material scheduling.

[0149] Please see Figure 9 As shown, Figure 9 This is a flowchart of a scheduling method provided in another embodiment of this application. For example... Figure 9 The illustrated embodiments can be implemented as follows: Figure 2 The variable mapping connection between the first virtual interface 101 and the second virtual interface 102 in the illustrated embodiment, such as... Figure 8 Based on the stopped material handling in the illustrated embodiment, an example of a specific implementation for disconnecting the variable mapping connection between the first virtual interface 101 and the second virtual interface 102 includes the following steps:

[0150] Step S901: Receive the second value of the material handling completion address bit from the processing equipment 110.

[0151] In some embodiments of this application, the trigger condition for the material handling completion address bit of the processing equipment 110 to switch from a first value to a second value can be that the processing equipment 110 resets the material handling completion address bit in the device virtual interface 1101 (e.g., ...). Figure 8 (The feeding completion address bit mentioned in the illustrated embodiment). The second value of the material handling completion address bit of the processing equipment 110 can be formed by switching the first value of the material handling completion address bit of the processing equipment 110. When the material handling completion address bit of the processing equipment 110 is switched to the second value to form a material handling completion signal, it can indicate that the processing equipment 110 has determined that the material handling requirements have been met.

[0152] Step S902: Based on the second value of the material handling completion address bit of the processing equipment 110, switch the first value of the material handling completion address bit in the first virtual interface 101 to the second value.

[0153] In some embodiments of this application, based on the variable mapping connection established between the device virtual interface 1101 and the first virtual interface 101, when the central control device 100 receives the second value of the material handling completion address bit of the processing device 110, it maps it to the first virtual interface 101, and then the material handling completion address bit in the first virtual interface 101 is switched from the first value to the second value.

[0154] Step S903: Based on the first value of the material handling completion address bit in the first virtual interface 101 being switched to the second value, the variable mapping connection between the first virtual interface 101 and the second virtual interface 102 is disconnected, and a variable mapping disconnection signal is generated.

[0155] In some embodiments of this application, when the central control device 100 detects that the first value of the material handling completion address bit in the first virtual interface 101 has switched to the second value, it indicates that it has received the material handling completion from the processing device 110. At this time, the central control device 100 disconnects the variable mapping connection between the first virtual interface 101 and the second virtual interface 102, stops the interaction between the processing device 110 and the mobile vehicle 120 through the virtual interface, and generates a variable mapping disconnection signal. The variable mapping disconnection signal can be used to indicate that the mobile vehicle 120 leaves the processing device 110.

[0156] Step S904: Send a variable mapping disconnect signal to the mobile vehicle 120 so that the mobile vehicle 120 can drive away from the processing equipment 110.

[0157] In some embodiments of this application, the central control device 100 generates a variable mapping disconnect signal, which can be sent to the mobile vehicle 120 so that the mobile vehicle 120 leaves the processing equipment 110, for example, the mobile vehicle 120 returns to the parking area.

[0158] In other embodiments of this application, after sending a variable mapping disconnect signal to the mobile vehicle 120, the central control device 100 can also send a variable mapping disconnect signal to the processing device 110, triggering the processing device 110 to reset the material handling completion address bit. Upon receiving the reset material handling completion address bit from the processing device, the material handling completion address bit in the first virtual interface 101 switches to the first value. After resetting the material handling completion address bit in the first virtual interface 101, the central control device 100 can wait for the next request signal from the processing device 110 (e.g., a vehicle dispatch signal).

[0159] In the embodiments of this application, based on the variable mapping connection established between the first virtual interface 101 and the second virtual interface 102, when it is determined that the processing equipment 110 meets the material handling requirements, the central control equipment 100 can be instructed to disconnect the variable mapping connection between the first virtual interface 101 and the second virtual interface 102 through variable mapping. This can maintain the working status of the processing equipment 110 and the mobile vehicle 120 in a timely manner and avoid resource waste.

[0160] Continue to see Figure 1As shown, a scheduling system 10 includes a central control device 100, a processing device 110, and a mobile vehicle 120. The central control device 100 has multiple first virtual interfaces 101 and multiple second virtual interfaces 102. The processing device 110 has a device virtual interface 1101, and the mobile vehicle 120 has a vehicle virtual interface 1201. Each virtual interface has multiple functional address bits. The number of first virtual interfaces 101 is the same as and corresponds to the number of processing devices 110. The number of second virtual interfaces 102 is the same as and corresponds to the number of mobile vehicles 120. The number of second virtual interfaces 102 and mobile vehicles 120 is greater than the number of processing devices 110. The functional address bits of the device virtual interface 1101 are mapped to the functional address bit variables of the first virtual interface 101, and the functional address bits of the vehicle virtual interface 1201 are mapped to the functional address bit variables of the second virtual interface 102. Based on the interaction order between the devices in the system, the interaction process between the devices in the scheduling system 10 is shown below:

[0161] S10, processing equipment 110 is used for:

[0162] Monitor the material processing status, which includes the material calling status and the material unloading status;

[0163] Based on the material processing status, the first value of the loading / unloading address bit in the equipment virtual interface 1101 is switched to the second value to form a dispatch signal to be sent to the central control equipment 100.

[0164] The material request status can refer to the state where the processing equipment 110 requests material to be added due to a lack of material, while the material unloading status can refer to the state where the processing equipment 110 has completed the processing of the material and requests that the processed material be moved away.

[0165] S20, Central Control Equipment 100 is used for:

[0166] The first value of the loading / unloading address bit in the device virtual interface 1101 is received and switched to the second value, and mapped to the first virtual interface 101, so that the first value in the first virtual interface 101 is switched to the second value.

[0167] Based on the first value in the first virtual interface 101 being switched to the second value, the connection status of multiple second virtual interfaces 102 is analyzed. The connection status includes disconnected status and mapped connection status.

[0168] Based on the connection status of multiple second virtual interfaces 102, select the second virtual interface 102 that is in a disconnected state;

[0169] From the second virtual interface 102 that is in a disconnected state, a second virtual interface 102 is determined according to a predetermined priority;

[0170] Based on the determined second virtual interface 102, a start signal is sent to the mobile vehicle 120, and the start signal carries the number of the processing equipment 110.

[0171] S30, Mobile Vehicle-Mounted 120 is used for:

[0172] Receive the start signal, which carries the number of processing equipment 110;

[0173] Based on the start signal and the number of processing equipment 110, the planned path is used to move to the processing equipment 110;

[0174] Upon reaching the processing equipment 110, an arrival signal is sent.

[0175] Central control equipment 100 is used for:

[0176] Based on the arrival signal, the first value of the arrival address bit of the first virtual interface 101 is switched to the second value, and the device virtual interface 1101 of the processing equipment 110 is sent with the second value of the arrival address bit of the first virtual interface 101 at this time.

[0177] S40 and processing equipment 110 are also used for:

[0178] The arrival address bit of the first virtual interface 101 is switched from its first value to a second value and mapped to the device virtual interface 1101, so that the first value of the arrival address bit of the device virtual interface 1101 is switched to the second value.

[0179] The arrival address bit of the device virtual interface 1101 is switched from the first value to the second value, and the device door is opened so that the robot arm of the mobile vehicle 120 can carry materials into the processing equipment 110. At the same time, the loading and unloading address bits of the device virtual interface 1101 are reset to form a dispatch reset signal.

[0180] The address bits for loading / unloading at the virtual interface 1101 of the central control device 100 have been reset.

[0181] S50 and central control equipment 100 are also used for:

[0182] Receive and reset the loading / unloading address bits and / or arrival address bits in the first virtual interface 101 based on the dispatch reset signal of the processing equipment 110;

[0183] Based on resetting the loading and unloading address bits in the first virtual interface 101, a variable mapping connection is established between the first virtual interface 101 and the second virtual interface 102.

[0184] S60 and processing equipment 110 are also used for:

[0185] Based on the first value of the arrival address bit of the device virtual interface 1101 being switched to the second value, the first value of the material handling request address bit of the device virtual interface 1101 is switched to the second value;

[0186] Send the second value, formed by switching the first value, in the material handling address bit of the processing equipment 110 to the central control equipment 100.

[0187] S70 and central control equipment 100 are also used for:

[0188] The second value is formed by switching the first value in the material handling address bit of the receiving processing equipment 110;

[0189] Based on the second value formed by switching the first value in the material handling address bit of the processing equipment 110, it is mapped to the first virtual interface 101, so that the first value of the material handling address bit in the first virtual interface 101 is switched to the second value.

[0190] Based on the first value of the material handling address bit in the first virtual interface 101 being switched to the second value, it is mapped to the second virtual interface 102, so that the first value of the material handling address bit in the second virtual interface 102 is switched to the second value;

[0191] The material handling address bit in the second virtual interface 102 is switched to the second value and sent to the mobile vehicle 120 so that the mobile vehicle 120 can move materials to the processing equipment 110.

[0192] The S80 and the mobile vehicle-mounted 120 are also used for:

[0193] The material handling address bit in the second virtual interface 102 is received as the second value, triggering a detection to determine whether the material handling to the processing equipment 110 has been completed.

[0194] If the material transfer to the processing equipment 110 has been completed, the first value of the material delivery completion address bit in the vehicle virtual interface 1201 is switched to the second value, and the second value of the material delivery completion address bit is sent to the central control equipment 100.

[0195] S90 and central control equipment 100 are also used for:

[0196] The first value of the feeding completion address bit in the vehicle virtual interface 1201 is switched to the second value, and mapped to the first virtual interface 101 through the second interface, so that the first value of the feeding completion address bit in the first virtual interface 101 is switched to the second value.

[0197] The first value of the feeding completion address bit in the first virtual interface 101 is switched to the second value and sent to the processing equipment 110.

[0198] S100 and processing equipment 110 are also used for:

[0199] The first value of the feeding completion address bit in the first virtual interface 101 is switched to the second value and mapped to the device virtual interface 1101, so that the first value of the feeding completion address bit in the device virtual interface 1101 is switched to the second value.

[0200] Based on the first value of the material feeding completion address bit of the device virtual interface 1101, the system switches to the second value to detect whether the material received from the mobile vehicle 120 has been completed.

[0201] If completed, the first value of the received address bit in the device virtual interface 1101 is switched to the second value, and the feeding completion address bit in the processing device 110 is reset;

[0202] Send the first value of the received address bit in the device virtual interface 1101 to the central control device 100, switch it to the second value, and reset the material handling request address bit in the processing device 110;

[0203] S110 and central control equipment 100 are also used for:

[0204] The first value of the receiving address bit in the receiving device virtual interface 1101 is switched to the second value, and the feeding completion address bit in the reset processing device 110 is also switched.

[0205] Based on the first value of the received address bit in the device virtual interface 1101 being switched to the second value, and the feeding completion address bit in the reset processing device 110, the first virtual interface 101 is mapped to the second virtual interface 102, so that the first value of the received address bit in the second virtual interface 102 is switched to the second value, and the feeding completion address bit is reset;

[0206] Send the second value of the received address bit in the second virtual interface 102 and the reset material feeding completion address bit to the mobile vehicle 120 so that the mobile vehicle 120 stops transporting materials to the processing equipment 110.

[0207] The S120 and mobile vehicle-mounted S120 are also used for:

[0208] The first value of the received address bit in the second virtual interface 102 is switched to the second value, and the feeding completion address bit in the vehicle virtual interface 1201 is reset to stop the material transport to the processing equipment 110.

[0209] Send the reset feed completion address bit to the second virtual interface 102 so as to map it to the device virtual interface 1101 through the first virtual interface 101.

[0210] S130 and central control equipment 100 are also used for:

[0211] The system receives the reset feed completion address bit sent by the vehicle virtual interface 1201 and maps it to the first virtual interface 101 through the second virtual interface 102, so as to reset the feed completion address bit of the first virtual interface 101.

[0212] Send the reset of the feed completion address bit of the reset first virtual interface 101 to the processing equipment 110.

[0213] S140 and processing equipment 110 are also used for:

[0214] Receive the reset feed completion address bit from the first virtual interface 101;

[0215] Based on the fact that the feeding completion address bit of the first virtual interface 101 has been reset, the feeding completion address bit of the reset device virtual interface 1101 is mapped and reset.

[0216] Based on the material feeding completion address bit of the reset device virtual interface 1101, the first value of the material handling completion address bit in the device virtual interface 1101 is triggered to switch to the second value;

[0217] Send the second value to the material handling completion address bit in the device virtual interface 1101 to the central control device 100 so as to disconnect the communication connection between the first virtual interface 101 and the second virtual interface 102.

[0218] S150 and central control equipment 100 are also used for:

[0219] Based on the second value formed by switching the first value in the material handling completion address bit of the processing equipment 110, the first value of the material handling completion address bit in the first virtual interface 101 is switched to the second value;

[0220] Based on the first value of the material handling completion address bit in the first virtual interface 101 being switched to the second value, the variable mapping connection between the first virtual interface 101 and the second virtual interface 102 is disconnected, and a variable mapping disconnection signal is generated.

[0221] Send a variable mapping disconnect signal to the mobile vehicle 120 so that the mobile vehicle 120 moves away from the processing equipment 110.

[0222] The S160 and the mobile vehicle-mounted 120 are also used for:

[0223] Upon detecting a signal indicating that the variable mapping has been disconnected, the planned path is moved away from the processing equipment 110.

[0224] S170 and central control equipment 100 are also used for:

[0225] Send a variable mapping disconnect signal to the processing equipment 110 so that the material handling completion address bit of the processing equipment 110 is switched from the second value to the first value, i.e., reset;

[0226] Based on the first value formed by switching the second value in the material handling completion address bit of the processing equipment 110, the second value of the material handling completion address bit of the central control equipment 100 is switched to the first value, i.e., reset.

[0227] Optionally, when the variable mapping connection between the first virtual interface 101 and the second virtual interface 102 is disconnected, all functional address bits in the virtual interfaces such as the first virtual interface 101, the second virtual interface 102, the device virtual interface 1101, and the vehicle virtual interface 1201 are reset to wait for the next variable mapping connection between the first virtual interface 101 and the second virtual interface 102.

[0228] The working content of the central control device 100, processing equipment 110 and mobile vehicle 120 in the scheduling system 10 of this application is the same as that of the central control device 100, processing equipment 110 and mobile vehicle 120 in the scheduling method described above, and will not be repeated here.

[0229] See Figure 10 As shown, Figure 10 This application provides a schematic diagram of the structure of a computer device.

[0230] In a preferred embodiment of this application, the computer device 1000 includes a memory 1001 and at least one processor 1002. Those skilled in the art should understand that... Figure 10 The structure of the computer device shown does not constitute a limitation of the embodiments of this application. It can be a bus topology or a star topology. The computer device 1000 may also include more or fewer other hardware or software than shown, or different component arrangements.

[0231] In some embodiments, the computer device 1000 includes a terminal capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application-specific integrated circuits, programmable gate arrays, digital processors, and embedded devices.

[0232] It should be noted that the computer device 1000 is merely an example. Other existing or future electronic products that are suitable for this application should also be included within the scope of protection of this application and are incorporated herein by reference.

[0233] In some embodiments, the memory 1001 is used to store program code and various data. For example, the memory 1001 may be used to store a scheduling system (such as...) installed in the computer device 1000. Figure 1The material scheduling system 10 shown enables high-speed and automatic access to programs or data during the operation of the computer device 1000. The memory 1001 includes read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable storage medium capable of carrying or storing data.

[0234] In some embodiments, the at least one processor 1002 may be composed of integrated circuits, such as a single-packaged integrated circuit or multiple integrated circuits packaged with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The at least one processor 1002 is the control unit of the computer device 1000, connecting various components of the computer device 1000 via various interfaces and lines. It executes programs or modules stored in the memory 1001 and calls data stored in the memory 1001 to perform various functions of the computer device 1000 and process data, such as performing the functions of the scheduling method in any of the above embodiments.

[0235] In some embodiments, the scheduling system 10 runs on a computer device 1000. The scheduling method of any of the above embodiments may include multiple functional modules composed of program code segments. The program code of each program segment in the scheduling system 10 may be stored in the memory 1001 of the computer device 1000 and executed by at least one processor 1002 to implement the function of the scheduling method of any of the above embodiments.

[0236] In this embodiment, the scheduling method of any of the above embodiments can be divided into multiple functional modules according to the functions it performs. A module, as referred to in this application, is a series of computer program segments that can be executed by at least one processor and perform a fixed function, and which are stored in memory.

[0237] Although not shown, the computer device 1000 may also include a power supply (such as a battery) to power various components. Preferably, the power supply can be logically connected to the at least one processor 1002 through a power management device, thereby enabling functions such as charging, discharging, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The computer device 1000 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0238] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0239] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause a computer device (which may be a server, personal computer, etc.) or processor to execute portions of the methods described in the various embodiments of this application.

[0240] The memory 1001 stores program code, and the at least one processor 1002 can call the program code stored in the memory 1001 to execute related functions. The program code stored in the memory 1001 can be executed by the at least one processor 1002 to realize the functions of each module to achieve the purpose of material scheduling.

[0241] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A scheduling method applied to a central control device, the central control device having a first virtual interface and a second virtual interface, the first virtual interface being used for communication connection with processing equipment, and the second virtual interface being used for communication connection with a mobile vehicle, characterized in that, The method includes: Receive dispatch signals sent by the processing equipment; Based on the dispatch signal of the processing equipment, the first value of the loading / unloading address bit in the first virtual interface is switched to the second value; Based on the first value of the loading / unloading address bit in the first virtual interface being switched to the second value, a mobile vehicle is identified; Based on the determined mobile vehicle, a start signal is sent to the mobile vehicle, the start signal carrying the number of the processing equipment; Receive the arrival signal fed back by the mobile vehicle based on the start signal, and / or receive the arrival confirmation signal sent by the processing equipment based on the arrival of the mobile vehicle at the processing equipment; Based on the arrival signal and / or the arrival confirmation signal, a variable mapping connection is established between the first virtual interface and the second virtual interface.

2. The scheduling method according to claim 1, characterized in that, There are multiple second virtual interfaces, and each second virtual interface is connected to a corresponding mobile vehicle communication connection. The step of determining a mobile vehicle based on switching the first value of the loading / unloading address bit in the first virtual interface to the second value includes: Based on the first value of the loading / unloading address bit in the first virtual interface being switched to the second value, the connection status of multiple second virtual interfaces is obtained, including the disconnected state; Based on the connection status of multiple second virtual interfaces, select the second virtual interface that is in the disconnected state; From the second virtual interfaces that are in the disconnected state, a second virtual interface is determined according to a preset priority to determine the corresponding mobile vehicle.

3. The scheduling method according to claim 1, characterized in that, There are multiple second virtual interfaces, and each second virtual interface is connected to a corresponding mobile vehicle communication connection. The step of determining a mobile vehicle based on the first value of the loading / unloading address bit in the first virtual interface being switched to the second value includes: Based on the first value of the loading / unloading address bit in the first virtual interface, the second value is switched to obtain the working status of multiple mobile vehicles, including non-working status. Based on the non-working states of multiple mobile vehicle units, select the mobile vehicle unit that is in the non-working state; From the mobile vehicles that are in the non-operational state, a mobile vehicle is determined according to a preset priority.

4. The scheduling method according to claim 1, characterized in that, The processing equipment, the mobile vehicle, the first virtual interface, and the second virtual interface each have multiple functional address bits. Each functional address bit is assigned a first value and a second value that can be switched between each other. The functional address bits of the processing equipment are mapped to the functional address bit variables of the first virtual interface, and the functional address bits of the mobile vehicle are mapped to the functional address bit variables of the second virtual interface. The step of establishing a variable mapping connection between the first virtual interface and the second virtual interface based on the arrival signal and / or the arrival confirmation signal is as follows: Based on the arrival signal and / or the arrival confirmation signal, the variables of each functional address bit of the first virtual interface are mapped to the variables of each functional address bit of the second virtual interface.

5. The scheduling method according to claim 1, characterized in that, The dispatch signal includes a second value of the loading / unloading address bits in the processing equipment, the second value of the loading / unloading address bits in the processing equipment being formed by switching the first value of the loading / unloading address bits in the processing equipment, and the step of establishing a variable mapping connection between the first virtual interface and the second virtual interface based on the arrival signal includes: Based on the arrival signal, the first value of the arrival address bit in the first virtual interface is switched to the second value; Send the arrival address bit of the first virtual interface to the processing equipment with the second value; The processing equipment receives a dispatch reset signal based on the arrival address bit in the first virtual interface being a second value. The dispatch reset signal includes a first value formed by the processing equipment resetting the loading and unloading address bits of the processing equipment based on the arrival address bit in the first virtual interface. Based on the dispatch reset signal, reset the loading / unloading address bits and / or reset the arrival address bits in the first virtual interface; Based on resetting the loading / unloading address bits in the first virtual interface, a variable mapping connection is established between the first virtual interface and the second virtual interface.

6. The scheduling method according to claim 1, characterized in that, The arrival signal includes a second value of the arrival address bit of the mobile vehicle, the second value of the arrival address bit of the mobile vehicle being formed by switching the first value of the arrival address bit of the mobile vehicle, and the step of establishing a variable mapping connection between the first virtual interface and the second virtual interface based on the arrival signal includes: Based on the arrival address bit in the mobile vehicle being a second value, it is mapped to the second virtual interface, so that the first value of the arrival address bit in the second virtual interface is switched to the second value; Based on the first value of the arrival address bit in the second virtual interface being switched to the second value, the first value of the arrival address bit in the first virtual interface is switched to the second value; Send the arrival address bit of the first virtual interface to the processing equipment with the second value; The processing equipment receives a dispatch reset signal based on the arrival address bit in the first virtual interface being a second value. The dispatch reset signal includes a first value formed by the processing equipment resetting the loading and unloading address bits of the processing equipment based on the arrival address bit in the first virtual interface. Based on the dispatch reset signal, reset the loading / unloading address bits and / or reset the arrival address bits in the first virtual interface; Based on resetting the loading / unloading address bits in the first virtual interface, a variable mapping connection is established between the first virtual interface and the second virtual interface.

7. The scheduling method according to claim 4, characterized in that, The scheduling method further includes: The processing equipment receives a second value of the material handling address bit sent by the processing equipment, wherein the second value of the material handling address bit of the processing equipment is formed by switching the first value of the material handling address bit of the processing equipment; Based on the second value of the material handling address bit of the processing equipment, it is mapped to the first virtual interface, so that the first value of the material handling address bit in the first virtual interface is switched to the second value; Based on the first value of the material handling address bit in the first virtual interface being switched to the second value, it is mapped to the second virtual interface so that the first value of the material handling address bit in the second virtual interface is switched to the second value; The second value is sent to the material handling address bit in the second virtual interface of the mobile vehicle so that the mobile vehicle can handle materials to the processing equipment.

8. The scheduling method according to claim 4, characterized in that, The scheduling method further includes: Receive the second value of the feeding completion address bit sent by the mobile vehicle, wherein the second value of the feeding completion address bit of the mobile vehicle is formed by switching the first value of the feeding completion address bit in the mobile vehicle; Based on the second value of the feeding completion address bit of the mobile vehicle, it is mapped to the first virtual interface through the second virtual interface, so that the first value of the feeding completion address bit in the first virtual interface is switched to the second value. Send the second value to the feeding completion address bit in the first virtual interface of the processing equipment; The processing equipment receives a second value of the receiving completion address bit based on the second value of the feeding completion address bit in the first virtual interface. The second value of the receiving completion address bit is formed by switching the first value of the receiving completion address bit. The second value of the receiving completion address bit of the processing equipment is mapped to the first virtual interface, so that the first value of the receiving completion address bit of the first virtual interface is switched to the second value; The first value of the receiving completion address bit of the first virtual interface is switched to the second value and mapped to the second virtual interface, so that the first value of the receiving completion address bit of the second virtual interface is switched to the second value; Send the second value of the receiving completion address bit in the second virtual interface to the mobile vehicle so that the mobile vehicle stops transporting materials to the processing equipment.

9. The scheduling method according to claim 4, characterized in that, The scheduling method further includes: The second value of the material handling completion address bit of the processing equipment is received, and the second value of the material handling completion address bit of the processing equipment is formed by switching the first value of the material handling completion address bit of the processing equipment. Based on the second value of the material handling completion address bit of the processing equipment, the first value of the material handling completion address bit in the first virtual interface is switched to the second value; Based on the first value of the material handling completion address bit in the first virtual interface being switched to the second value, the variable mapping connection between the first virtual interface and the second virtual interface is disconnected, and a variable mapping disconnection signal is generated; Send the variable mapping disconnect signal to the mobile vehicle so that the mobile vehicle can leave the processing equipment.

10. A scheduling system, characterized in that, The system includes processing equipment, a central control unit, and a mobile vehicle-mounted unit. The central control unit has a first virtual interface and a second virtual interface. The processing equipment has a device virtual interface. The first virtual interface is used for communication connection with the processing equipment, and the second virtual interface is used for communication connection with the mobile vehicle-mounted unit. The processing equipment is used to: generate a dispatch signal based on the second value of the loading / unloading address bits in the equipment virtual interface, and send the dispatch signal, wherein the second value of the loading / unloading address bits in the equipment virtual interface is generated by switching the first value of the loading / unloading address bits in the equipment virtual interface; The central control device is used for: Receive the dispatch signal; Based on the dispatch signal, the first value of the loading / unloading address bit in the first virtual interface is switched to the second value; Based on the first value of the loading / unloading address bit in the first virtual interface being switched to the second value, a mobile vehicle is identified; Based on the determined mobile vehicle, a start signal is sent to the mobile vehicle, the start signal carrying the number of the processing equipment; The mobile vehicle is used for: Receive the start signal; Based on the start signal, the machine moves to the processing equipment and sends an arrival signal back to the central control equipment; The central control device is also used for: Receive the arrival signal fed back by the mobile vehicle based on the start signal, and / or receive the arrival confirmation signal generated and sent by the processing equipment based on the arrival of the mobile vehicle at the processing equipment; Based on the arrival signal and / or the arrival confirmation signal, a variable mapping connection is established between the first virtual interface and the second virtual interface.

11. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the scheduling method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, It stores a computer program that is executed by a computer device, which, when run on the computer device, causes the computer device to perform the steps of the scheduling method according to any one of claims 1 to 9.

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