A scheduling method, system, device and medium for a pick-and-place task

Abstract

The application discloses a kind of scheduling methods, systems, equipment and medium of clamping and throwing task, it is related to task scheduling field.The method concurrently operates three task queues;First task queue includes: the first task of being clamped from vehicle body and being thrown to platform;Second task queue includes: the second task of being clamped from platform and being thrown to vehicle body;Third task queue includes: the third task of being clamped from platform and being thrown into agitator and being clamped from agitator and being thrown to platform;If first task queue is not empty, then after executing first task, it is queued from first task queue and enters third task queue;If second task queue is not empty, then after executing second task, it is queued from second task queue;If third task queue is not empty, then after executing third task, it is queued from third task queue and enters second task queue;If three task queues are empty, then end.The application can improve the efficiency of AGV robot and mechanical arm cooperation to complete clamping and throwing task.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of task scheduling, in particular to a scheduling method and system for a clamping and dispensing task, a device and a medium. BACKGROUND

[0002] Automated chemical synthesis has great prospects in improving the safety and efficiency of industrial laboratories. Current automated synthesis equipment has the following shortcomings: 1. Existing equipment must be modified to be integrated into an automated system. 2. The system is not flexible, and different scenarios require reprogramming of internal programs to match the experimental environment. For a dual-robot arm cooperating with an automated guided vehicle (AGV) to complete liquid preparation and stirring experiments, two working areas are divided, namely a liquid preparation area and a stirring area. The AGV robot completes liquid preparation in the liquid preparation area, and then completes stirring operations in the stirring area.

[0003] The current related automated equipment is an automated system based on a robot arm, which can simulate the actions of a human chemist to perform complex chemical reactions. The device performs reagent preparation, filtration, pipetting, and other operations. Experimenters can manually add task sequences to design complete experimental processes. The overall system uses Denso VS-060 robot arms and Robotiq Hand-E grippers to operate in a structured environment, while an automated remote injection pump for liquid handling is made, and a Shimadzu GCMS-qp2010se model gas chromatograph-mass spectrometer (GCMS) is used to analyze the samples generated by the robot. The system also uses RobotTsp algorithm for path optimization of the robot arm. The device is tested with a Michael reaction, and the final yield is about 34%, which is comparable to the yield obtained by a primary chemist (a chemistry undergraduate).

[0004] In the process of preparing polyimide, a stirring process is required. Referring to Figure 1 , the AGV robot and the robot arm cooperate to complete the reagent stirring operation, which requires the following steps:

[0005] The robot arm 1 clamps the reagent bottle from the vehicle test tube rack 2, and places it on the platform test tube rack 3, and clamps the completed reagent bottle back to the vehicle test tube rack 2. The platform robot arm 4 clamps the reagent bottle from the platform test tube rack 3 and places it in the stirrer, and clamps the completed reagent bottle from the stirrer and places it on the platform test tube rack 3. Repeat the above operation until all the un-stirred reagent bottles in the vehicle are placed in the stirrer; all the stirred reagent bottles in the stirrer are placed in the vehicle test tube rack 2.

[0006] In the above process, at present, single-thread linear operation is mostly used, which is low in efficiency; and there is no scheduling strategy for AGV robots and mechanical arms to complete batch clamping and placing. In summary, the efficiency of the existing AGV robots and mechanical arms to complete the clamping and placing task needs to be improved. SUMMARY

[0007] Based on this, the embodiment of the present application provides a scheduling method, system, device and medium for clamping and placing tasks to improve the efficiency of AGV robots and mechanical arms to complete the clamping and placing task.

[0008] To achieve the above object, the embodiment of the present application provides the following scheme:

[0009] A scheduling method for clamping and placing tasks, the scheduling method is used in an automated system based on a mechanical arm; the automated system is used to realize AGV robots and mechanical arms to complete clamping and placing tasks;

[0010] The scheduling method comprises:

[0011] Obtaining a placing task list; the placing task list comprises a first task queue, a second task queue and a third task queue; the first task queue comprises a first task of clamping a to-be-stirred reagent bottle from a vehicle body test tube rack and placing it to a platform test tube rack; the second task queue comprises a second task of clamping a stirred reagent bottle from the platform test tube rack and placing it to the vehicle body test tube rack; the third task queue comprises a third task; the third task comprises a first subtask of clamping a to-be-stirred reagent bottle from the platform test tube rack and placing it into a stirrer and a second subtask of clamping a stirred reagent bottle from the stirrer and placing it to the platform test tube rack;

[0012] Concurrently running the first task queue, the second task queue and the third task queue according to the placing task list;

[0013] If the first task queue is not empty, a current first task is executed, and after the current first task is executed, the current first task is dequeued from the first task queue, and a third task in the third task queue is entered;

[0014] If the second task queue is not empty, a current second task is executed, and after the current second task is executed, the current second task is dequeued from the second task queue;

[0015] If the third task queue is not empty, a current third task is executed, and after the current third task is executed, the current third task is dequeued from the third task queue, and a second task in the second task queue is entered;

[0016] If the first task queue, the second task queue and the third task queue are all empty, all tasks of the scheduling process end.

[0017] Optionally, the scheduling method further comprises:

[0018] If the first task queue is empty, the first task of the scheduling process ends;

[0019] If the third task queue is empty and the first task queue is empty, the third task of the scheduling process ends.

[0020] Optionally, at the beginning of the scheduling process, the first task queue in the initial delivery task list includes at least one first task, and the second task queue and the third task queue in the initial delivery task list are both empty.

[0021] The application further provides a scheduling system for clamping and delivering tasks, comprising:

[0022] a task list acquisition module, configured to acquire a delivery task list; the delivery task list includes a first task queue, a second task queue and a third task queue; the first task queue includes a first task of clamping a to-be-stirred reagent bottle from a vehicle body test tube rack and delivering the reagent bottle to a platform test tube rack; the second task queue includes a second task of clamping a stirred reagent bottle from the platform test tube rack and delivering the reagent bottle to the vehicle body test tube rack; the third task queue includes a third task; the third task includes a first subtask of clamping a to-be-stirred reagent bottle from the platform test tube rack and delivering the reagent bottle to a stirrer and a second subtask of clamping a stirred reagent bottle from the stirrer and delivering the reagent bottle to the platform test tube rack;

[0023] a concurrent operation control module, configured to concurrently operate the first task queue, the second task queue and the third task queue according to the delivery task list;

[0024] a first control module, configured to, if the first task queue is not empty, execute a current first task, and after the current first task is executed, the first task is dequeued from the first task queue, and a third task is entered into the third task queue;

[0025] a second control module, configured to, if the second task queue is not empty, execute a current second task, and after the current second task is executed, the second task is dequeued from the second task queue;

[0026] a third control module, configured to, if the third task queue is not empty, execute a current third task, and after the current third task is executed, the third task is dequeued from the third task queue, and a second task is entered into the second task queue;

[0027] a fourth control module, configured to, if the first task queue, the second task queue and the third task queue are all empty, all tasks of the scheduling process end.

[0028] Optionally, the scheduling system further comprises:

[0029] The fifth control module is configured to end the first task of the scheduling process if the first task queue is empty.

[0030] The sixth control module is configured to end the third task of the scheduling process if the third task queue is empty and the first task queue is empty.

[0031] Optionally, the scheduling system further comprises:

[0032] The task initialization module is configured to determine an initial delivery task list at the beginning of the scheduling process, wherein the first task queue in the initial delivery task list comprises at least one first task, and the second task queue and the third task queue in the initial delivery task list are both empty.

[0033] The present application also provides an electronic device comprising a memory and a processor, wherein the memory is configured to store a computer program, and the processor is configured to run the computer program to enable the electronic device to perform the above scheduling method.

[0034] The present application also provides a computer readable storage medium storing a computer program, wherein the computer program is configured to be executed by a processor to implement the above scheduling method.

[0035] According to the embodiments of the present application, the following technical effects are achieved:

[0036] The three task queues are concurrently run in the embodiments of the present application, and the multiple mechanical arms are cooperatively operated by designing the task queues, so that the efficiency of the AGV robot and the mechanical arms in completing the clamping and delivery task is improved, and the batch clamping and delivery task can be completed. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0038] Figure 1 A schematic diagram for AGV robot cooperating with a mechanical arm to complete reagent stirring operation;

[0039] Figure 2 A flowchart of the scheduling method of the clamping and delivery task provided by the present embodiment;

[0040] Figure 3A more specific implementation process schematic diagram of the scheduling method for the clamping and dispensing task provided in the embodiment is provided.

[0041] Figure 4 A flowchart of different task endings provided in the embodiment is provided.

[0042] Figure 5 A structure diagram of the scheduling system for the clamping and dispensing task provided in the embodiment is provided. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the application will be described below with reference to the drawings in the embodiments of the application.

[0044] The purpose of the application is to provide a scheduling method, system, device and medium for a clamping and dispensing task, which improves the efficiency of AGV robots and mechanical arms in completing the clamping and dispensing task by concurrently running three task queues.

[0045] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the application will be further described in detail below with reference to the drawings and specific embodiments.

[0046] Embodiment one

[0047] The scheduling method for the clamping and dispensing task of the embodiment is used in an automated system based on a mechanical arm; the automated system is used to realize the cooperation of AGV robots and mechanical arms in completing the clamping and dispensing task. The process of AGV robots cooperating with mechanical arms to complete reagent stirring operations in the automated system is as shown in Figure 1

[0048] Referring to Figure 2 , the scheduling method comprises:

[0049] Step 101: Obtain a dispensing task list.

[0050] The dispensing task list comprises a first task queue, a second task queue and a third task queue.

[0051] The first task queue comprises a first task of clamping a to-be-stirred reagent bottle from a vehicle body test tube rack and dispensing it to a platform test tube rack. The second task queue comprises a second task of clamping a stirred reagent bottle from the platform test tube rack and dispensing it to the vehicle body test tube rack. The third task queue comprises a third task; the third task comprises a first subtask of clamping a to-be-stirred reagent bottle from the platform test tube rack and dispensing it into a stirrer and a second subtask of clamping a stirred reagent bottle from the stirrer and dispensing it to the platform test tube rack.

[0052] ​The first task queue in the initial delivery task list includes at least one first task at the beginning of the scheduling process, and the second task queue and the third task queue in the initial delivery task list are both empty.

[0053] Step 102: concurrently running the first task queue, the second task queue and the third task queue according to the delivery task list.

[0054] Step 103: if the first task queue is not empty, executing the current first task, dequeuing the current first task from the first task queue after the execution of the current first task, and entering a third task into the third task queue.

[0055] Step 104: if the second task queue is not empty, executing the current second task, and dequeuing the current second task from the second task queue after the execution of the current second task.

[0056] Step 105: if the third task queue is not empty, executing the current third task, and dequeuing the current third task from the third task queue after the execution of the current third task, and entering a second task into the second task queue.

[0057] Step 106: if the first task queue, the second task queue and the third task queue are all empty, ending all tasks of the scheduling process.

[0058] In one example, the scheduling method further comprises:

[0059] If the first task queue is empty, the first task of the scheduling process ends; if the third task queue is empty and the first task queue is empty, the third task of the scheduling process ends; if the second task queue is empty and the first task queue and the third task queue are also empty, the second task of the scheduling process ends. All three tasks end, that is, all tasks of the scheduling process end.

[0060] The scheduling method of the above embodiment, in actual application, a more specific implementation process is as follows.

[0061] First, three task queues are designed: 1. picking up from the vehicle body test tube rack and delivering to the platform test tube rack as the first task queue, also referred to as queue 1; 2. picking up from the platform test tube rack and delivering to the vehicle body test tube rack as the second task queue, also referred to as queue 2; 3. picking up and delivering by the platform mechanical arm as the third task queue, also referred to as queue 3. The third task queue can be further divided into two sub-queues: ① picking up the reagent bottle in the platform test tube rack that has not been completed by the mechanical arm and delivering to the stirrer. ② picking up the reagent bottle that has been stirred by the stirrer and delivering to the platform test tube rack.

[0062] Referring to Figure 3 , in actual application, the implementation process is as follows:

[0063] (1) The experimental personnel issues a dispensing task list, which specifies which reagent bottles need to be dispensed to the stirrer.

[0064] (2) The initial queue is updated, and queue 1 is the issued task list, and queues 2 and 3 are empty.

[0065] (3) The start is dropped, and the task starts running, and the three task queues run concurrently, and the three queues simultaneously determine whether the queue is empty. The specific determination method is: in programming, the methods of the queue Queue can be used for control, the.push() and.pop() are called for in and out of the queue operations, the.size() is called to query the queue quantity, and the.empty() is called to determine whether it is empty.

[0066] (4) If queue 1 is not empty, task i (the first task) is executed: the vehicle mechanical arm picks up an empty reagent bottle from the vehicle test tube rack and dispenses it to the platform test tube rack. After the execution is completed, the task is dequeued from queue 1, and the task enters queue 3; again, it is determined whether queue 1 is empty.

[0067] (5) If queue 2 is not empty, task j (the second task) is executed: the vehicle mechanical arm executes the reagent bottle from the platform test tube rack, which has been stirred, and dispenses it to the vehicle test tube rack; after the execution is completed, the task is dequeued from queue 2; again, it is determined whether queue 2 is empty.

[0068] (6) If queue 3 is not empty, task k (the third task) is executed: the platform mechanical arm executes the reagent bottle from the platform test tube rack, which has not been stirred, and dispenses it to the stirrer, and then the reagent bottle that has been stirred is dispensed to the platform test tube rack; after the execution is completed, the task is dequeued from queue 1, and the task enters queue 2; again, it is determined whether queue 3 is empty.

[0069] (7) If queue 1, queue 2, and queue 3 are empty at the same time, the task ends.

[0070] In addition, the flow of each task of queue 1, queue 2, and queue 3 is as shown in Figure 4 . Figure 4 Among them, if queue 1 is empty, all tasks i of the scheduling process end; if queue 3 is empty and queue 1 is empty, all tasks k of the scheduling process end; if queue 2 is empty and queue 1 and queue 3 are also empty, all tasks j of the scheduling process end. All three tasks end, that is, all tasks of the scheduling process end.

[0071] The scheduling method of the clamping and placing task of the embodiment cooperates multiple mechanical arms in a task queue design manner to improve the efficiency of the mechanical arm and the vehicle body robot in clamping and placing, and achieves the effect of fast preparation of polyimide material. The three-task queue strategy can efficiently execute the batch clamping and placing task completed by the double mechanical arms in cooperation.

[0072] Embodiment two

[0073] In order to execute the method corresponding to the above-mentioned embodiment one, to realize the corresponding function and technical effect, the following provides a scheduling system of clamping and placing task.

[0074] Referring to Figure 5 , the scheduling system comprises:

[0075] A task list acquisition module 201 is configured to acquire a placing task list; the placing task list comprises a first task queue, a second task queue and a third task queue; the first task queue comprises a first task of clamping a to-be-stirred reagent bottle from a vehicle body test tube rack and placing it into a platform test tube rack; the second task queue comprises a second task of clamping a stirred reagent bottle from the platform test tube rack and placing it into the vehicle body test tube rack; and the third task queue comprises a third task; the third task comprises a first subtask of clamping a to-be-stirred reagent bottle from the platform test tube rack and placing it into a stirrer and a second subtask of clamping a stirred reagent bottle from the stirrer and placing it into the platform test tube rack.

[0076] A concurrent operation control module 202 is configured to concurrently operate the first task queue, the second task queue and the third task queue according to the placing task list.

[0077] A first control module 203 is configured to execute a current first task if the first task queue is not empty, and a third task is entered into the third task queue after the current first task is executed and dequeued from the first task queue.

[0078] A second control module 204 is configured to execute a current second task if the second task queue is not empty, and a second task is entered into the second task queue after the current second task is executed and dequeued from the second task queue.

[0079] A third control module 205 is configured to execute a current third task if the third task queue is not empty, and a second task is entered into the second task queue after the current third task is executed and dequeued from the third task queue.

[0080] A fourth control module 206 is configured to end all tasks of the scheduling process if the first task queue, the second task queue and the third task queue are all empty.

[0081] In one example, the scheduling system further comprises:

[0082] a fifth control module configured to end the first task of the scheduling process if the first task queue is empty.

[0083] a sixth control module configured to end the third task of the scheduling process if the third task queue is empty and the first task queue is empty.

[0084] In one example, the scheduling system further comprises:

[0085] a task initialization module configured to determine an initial task list at the beginning of the scheduling process, wherein the first task queue in the initial task list comprises at least one first task, and the second task queue and the third task queue in the initial task list are both empty.

[0086] Embodiment Three

[0087] The embodiment provides an electronic device, comprising a memory and a processor, the memory is used for storing a computer program, and the processor runs the computer program to make the electronic device execute the scheduling method of the embodiment one.

[0088] Optionally, the electronic device can be a server.

[0089] In addition, the embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the scheduling method of the embodiment one.

[0090] In the specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the method part.

[0091] The principles and implementation manners of the present application are described by using specific examples in the present application. The above embodiment is only used to help understand the method and core idea of the present application; at the same time, for the general technical personnel in the art, according to the idea of the present application, the specific implementation manner and application range will be changed. In conclusion, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A scheduling method for a pick-and-place task, characterized in that, The scheduling method is used in a mechanical arm-based automation system; the automation system is used to realize cooperation of an AGV robot and a mechanical arm to complete a clamping and dropping task; The scheduling method comprises: obtaining a dropping task list; the dropping task list comprises a first task queue, a second task queue and a third task queue; the first task queue comprises a first task of clamping a reagent bottle to be stirred from a vehicle body test tube rack and dropping the reagent bottle to a platform test tube rack; the second task queue comprises a second task of clamping a stirred reagent bottle from the platform test tube rack and dropping the reagent bottle to the vehicle body test tube rack; the third task queue comprises a third task; the third task comprises a first subtask of clamping a reagent bottle to be stirred from the platform test tube rack and dropping the reagent bottle to a stirrer and a second subtask of clamping a stirred reagent bottle from the stirrer and dropping the reagent bottle to the platform test tube rack; concurrently running the first task queue, the second task queue and the third task queue according to the dropping task list; if the first task queue is not empty, executing a current first task, and after the current first task is executed, dequeuing from the first task queue and entering a third task in the third task queue; if the second task queue is not empty, executing a current second task, and after the current second task is executed, dequeuing from the second task queue; if the third task queue is not empty, executing a current third task, and after the current third task is executed, dequeuing from the third task queue and entering a second task in the second task queue; if the first task queue, the second task queue and the third task queue are all empty, ending all tasks of the scheduling process.

2. The scheduling method of claim 1, wherein, Further comprising: if the first task queue is empty, ending a first task of the scheduling process; if the third task queue is empty and the first task queue is empty, ending a third task of the scheduling process.

3. The scheduling method of claim 1, wherein, When the scheduling process starts, the first task queue in an initial dropping task list comprises at least one first task, and the second task queue and the third task queue in the initial dropping task list are both empty.

4. A scheduling system for a pick-and-place task, characterized in that Comprise: a task list obtaining module for obtaining a dropping task list; the dropping task list comprises a first task queue, a second task queue and a third task queue; the first task queue comprises a first task of clamping a reagent bottle to be stirred from a vehicle body test tube rack and dropping the reagent bottle to a platform test tube rack; the second task queue comprises a second task of clamping a stirred reagent bottle from the platform test tube rack and dropping the reagent bottle to the vehicle body test tube rack; the third task queue comprises a third task; the third task comprises a first subtask of clamping a reagent bottle to be stirred from the platform test tube rack and dropping the reagent bottle to a stirrer and a second subtask of clamping a stirred reagent bottle from the stirrer and dropping the reagent bottle to the platform test tube rack; a concurrent running control module for concurrently running the first task queue, the second task queue and the third task queue according to the dropping task list; a first control module, configured to execute a current first task if the first task queue is not empty, and dequeue the current first task from the first task queue after the current first task is executed, and enter a third task into the third task queue; a second control module, configured to execute a current second task if the second task queue is not empty, and dequeue the current second task from the second task queue after the current second task is executed; a third control module, configured to execute a current third task if the third task queue is not empty, and dequeue the current third task from the third task queue after the current third task is executed, and enter a second task into the second task queue; a fourth control module, configured to end all tasks of the scheduling process if the first task queue, the second task queue and the third task queue are all empty.

5. The dispatch system of claim 4, wherein, Further comprising: a fifth control module, configured to end the first task of the scheduling process if the first task queue is empty; a sixth control module, configured to end the third task of the scheduling process if the third task queue is empty and the first task queue is empty.

6. The dispatch system of claim 4, wherein, Further comprising: a task initialization module, configured to determine an initial delivery task list when the scheduling process starts, the first task queue in the initial delivery task list comprising at least one first task, and the second task queue and the third task queue in the initial delivery task list being empty.

7. An electronic device, comprising: The electronic device comprises a memory and a processor, the memory is configured to store a computer program, and the processor is configured to execute the computer program to enable the electronic device to execute the scheduling method in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer program is stored in the memory and executed by the processor to implement the scheduling method in any one of claims 1 to 3.

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