A scheduling control method and device of a dual-actuator device and a computer device

Abstract

The application relates to the technical field of automation equipment, in particular to a scheduling control method and device of a double-motor equipment and a computer device. The double-motor equipment comprises two independently controlled motor equipment, and the method comprises the following steps: in response to a scheduling task of a target product, determining a target motor equipment used for executing the scheduling task; when the target motor equipment is in a running state, acquiring equipment information of a side motor equipment; when an optimization scheduling condition is met, acquiring equipment information of the target motor equipment and a working position of the target product; determining a non-interference track based on the equipment information of the side motor equipment and the target motor equipment and the working position of the target product; and generating a motion control instruction based on the non-interference track, so as to drive the side motor equipment to complete the scheduling task of the target product. The method can improve the product flow efficiency of the automation equipment.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to a scheduling and control method, apparatus, and computer equipment for a dual-action sub-equipment. Background Technology

[0002] A multi-functional test line is a device used for testing and inspecting electronic products. It can perform various tests and inspections on the production line, including electrical testing, functional testing, and reliability testing. These tests check the performance, quality, and reliability of electronic products, ensuring they meet relevant standards and requirements. A multi-functional test line typically includes testing instruments, test fixtures, and testing software, enabling rapid and accurate testing and diagnosis of various electronic products, such as mobile phones, tablets, televisions, and audio equipment. This equipment can significantly improve production efficiency and product quality, reducing product defects and quality problems.

[0003] The design and manufacture of multi-functional test lines require consideration of various factors, such as testing accuracy, speed, and reliability, the degree of automation, and the adaptability and flexibility of the testing. Because different electronic products have different testing requirements, multi-functional test lines need to be customized and adjusted according to specific products.

[0004] In related technologies, a common type of automated equipment mainly operates from two sides, with a right-angle arm on each side. The right-angle arm serves as a scheduling fixture for the product to be tested. Each right-angle arm is used to pick up and place products on the workstation below and work together to realize the automated process.

[0005] However, current automated equipment based on double right-angle arms has the following technical problems in the scheduling and control process:

[0006] A right-angle arm on one side is usually on the corresponding side, which means that if one side of the workstation is idle, the right-angle arm will also be idle, resulting in a decrease in the overall efficiency of the production line. Summary of the Invention

[0007] Based on this, it is necessary to provide a scheduling and control method, device, computer equipment, computer-readable storage medium, and computer program product for dual-action sub-equipment that can improve the product flow efficiency of automated equipment, in order to address the above-mentioned technical problems.

[0008] Firstly, this application provides a scheduling and control method for a dual-moving sub-equipment. The dual-moving sub-equipment includes two moving sub-equipments, each of which is independently controlled. The method includes:

[0009] In response to a scheduling task for a target product, a target moving part is determined for performing the scheduling task;

[0010] When the target moving device is in operation, the device information of the opposite moving device is obtained. The opposite moving device is the other moving device among the two moving devices besides the target moving device.

[0011] When the optimized scheduling conditions are met, obtain the equipment information of the target moving sub-device and the working position where the target product is located;

[0012] A non-interference trajectory is determined based on the equipment information of the opposing moving part and the target moving part, as well as the working position of the target product.

[0013] Motion control commands are generated based on the non-interference trajectory to drive the opposite moving sub-device to complete the scheduling task of the target product.

[0014] In one embodiment, the two moving devices each correspond to at least two working areas, and determining the target moving device for performing the scheduling task includes:

[0015] Determine the work area where the target product is located;

[0016] The target moving device for performing the scheduling task is determined based on the work area.

[0017] In one embodiment, the working area is determined by the size and operating area of ​​the corresponding moving device.

[0018] In one embodiment, obtaining the device information of the opposite moving part includes:

[0019] Obtain the operating status of the opposite moving part;

[0020] When the opposite moving device is in an idle state, it is determined that the opposite moving device meets the optimized scheduling conditions, and the position information and size information of the opposite moving device are obtained.

[0021] In one embodiment, determining the non-interference trajectory based on the equipment information of the opposing moving part device, the target moving part device, and the working position of the target product includes:

[0022] The current working area of ​​the target moving device is obtained based on the device information of the target moving device;

[0023] The non-interference zone is determined based on the position and size information of the opposite moving part and the current working area of ​​the target moving part, and the target safe position is determined in combination with the working position of the target product.

[0024] The non-interference trajectory is determined based on the position information of the opposite moving part, the target safety position, and the working position where the target product is located.

[0025] In one embodiment, determining the non-interference area based on the position and size information of the opposing moving part and the current working area of ​​the target moving part, and determining the target safe position in conjunction with the working position of the target product, includes:

[0026] The non-interference region is obtained by removing the current working area of ​​the target moving device from the common area where the two moving devices are located;

[0027] The target safe position is selected as the location within the non-interference region that is closest to the workstation where the target product is located.

[0028] In one embodiment, the step of removing the current working area of ​​the target moving device from the common area where the two moving devices are located to obtain the non-interference area includes:

[0029] Several active area grids are created for each of the two moving devices to obtain the common area;

[0030] The activity area grid is created with the real-time position of the moving device as the center and the moving direction of the moving device as the extension direction of the grid lines, and all the working areas are located in different activity area grids.

[0031] Secondly, this application also provides a scheduling and control device for a dual-action sub-equipment. The dual-action sub-equipment includes two independent sub-equipments, and the method includes:

[0032] The task response module is used to determine the target moving part for executing the scheduling task in response to the scheduling task for the target product;

[0033] The equipment information module is used to obtain equipment information of the opposite moving device when the target moving device is in operation. The opposite moving device is the other moving device among the two moving devices besides the target moving device.

[0034] The optimized scheduling judgment module is used to obtain the equipment information of the target moving sub-device and the working position of the target product when the optimized scheduling conditions are met.

[0035] The non-interference trajectory module is used to determine a non-interference trajectory based on the equipment information of the opposing moving part and the target moving part, as well as the working position where the target product is located.

[0036] The control command module is used to generate motion control commands based on the non-interference trajectory to drive the opposite moving sub-device to complete the scheduling task of the target product.

[0037] In one embodiment, the two moving devices each correspond to at least two working areas, and the task response module includes:

[0038] The work area determination module is used to determine the work area where the target product is located;

[0039] The device determination module is used to determine the target moving device for performing the scheduling task based on the working area.

[0040] In one embodiment, the working area is determined by the size and operating area of ​​the corresponding moving device.

[0041] In one embodiment, the device information module includes:

[0042] The operation status module is used to obtain the operation status of the opposite-side moving part.

[0043] The status determination module is used to determine that the opposite moving device meets the optimized scheduling conditions when the opposite moving device is in an idle state, and at the same time obtain the position information and size information of the opposite moving device.

[0044] In one embodiment, the non-interference trajectory module includes:

[0045] The equipment information parsing module is used to obtain the current working area of ​​the target moving device based on the equipment information of the target moving device;

[0046] The target location determination module is used to determine the non-interference area based on the position and size information of the opposite moving part and the current working area of ​​the target moving part, and to determine the target safe location in combination with the working position of the target product;

[0047] The trajectory generation module is used to determine the non-interference trajectory based on the position information of the opposite moving sub-device, the target safety position, and the working position where the target product is located.

[0048] In one embodiment, the target location determination module includes:

[0049] The non-interference region determination module is used to remove the current working area of ​​the target moving device from the common area where the two moving devices are located to obtain the non-interference region;

[0050] The safe location selection module is used to select the location in the non-interference area that is closest to the workstation where the target product is located as the target safe location.

[0051] In one embodiment, the non-interference region determination module previously includes:

[0052] The common area determination module is used to create several activity area grids for the two moving devices respectively, so as to obtain the common area;

[0053] The activity area grid is created with the real-time position of the moving device as the center and the moving direction of the moving device as the extension direction of the grid lines, and all the working areas are located in different activity area grids.

[0054] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of a scheduling and control method for a dual-action sub-device as described in any embodiment of the first aspect.

[0055] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of a scheduling and control method for a dual-action sub-device as described in any embodiment of the first aspect.

[0056] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of a scheduling and control method for a dual-action sub-device as described in any embodiment of the first aspect.

[0057] The aforementioned scheduling and control method, apparatus, computer equipment, storage medium, and computer program product for dual-action sub-equipment, derived from the technical features in the claims, can achieve the following beneficial effects to address the technical problems in the background art:

[0058] This application discloses a scheduling and control method for dual-moving sub-devices. The main method involves determining the working areas of the two moving sub-devices based on equipment information. During control, when one right-angled wall needs to move, the method responds to the scheduling task for the target product by identifying the target moving sub-device responsible for scheduling the target product and executing the scheduling task. Subsequently, the other moving sub-device can be designated as the opposing moving sub-device (i.e., within the dual-moving sub-device framework, when one moving sub-device is selected as the target moving sub-device, the other moving sub-device automatically participates in the calculation as the opposing moving sub-device). At this point, the equipment information of the opposing moving sub-device can be obtained, allowing the determination of the right-angled arm's position and the driving state of the currently executed task. This allows the determination of the non-interference trajectory within which the target moving sub-device can move safely during its motion—that is, the trajectory within the area where the target moving sub-device can safely move. Finally, motion control commands are generated based on the non-interference trajectory, driving the target moving sub-device to complete the scheduling control of the target product within the non-interference area. In practice, the solution provided in this application can utilize the equipment information of the opposing moving sub-equipment in real time during scheduling and control, flexibly determine the non-interference trajectory that can be used for the target moving sub-equipment's activities, and thus plan the activities of the target moving sub-equipment based on the non-interference trajectory, which helps to improve the scheduling and control efficiency of dual moving sub-equipment. Attached Figure Description

[0059] Figure 1 This is an application environment diagram of a scheduling and control method for a dual-action sub-device in one embodiment.

[0060] Figure 2 This is a schematic diagram of the first process of a scheduling and control method for a dual-action sub-device in one embodiment;

[0061] Figure 3 This is a second flowchart illustrating a scheduling and control method for a dual-action sub-device in another embodiment;

[0062] Figure 4 This is a schematic diagram of the third process of a scheduling and control method for a dual-action sub-device in another embodiment;

[0063] Figure 5 This is a schematic diagram of the fourth process of a scheduling and control method for a dual-action sub-device in another embodiment;

[0064] Figure 6 This is a fifth flowchart illustrating a scheduling and control method for a dual-action sub-device in another embodiment;

[0065] Figure 7 This is a schematic diagram of the target's safe location in a specific example.

[0066] Figure 8This is a sixth flowchart illustrating a scheduling and control method for a dual-action sub-device in another embodiment;

[0067] Figure 9 This is a structural block diagram of a scheduling and control device for a dual-action sub-equipment in one embodiment;

[0068] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0070] The scheduling and control method for dual-action sub-equipment provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, a dual-moving sub-device can include two independently controlled sub-devices, which share a common movement area. This can be illustrated as follows: Figure 1 As shown, Figure 1 This illustration shows a specific implementation of a dual-action sub-equipment, including two workstations. Side A has A1…ANn workstations, and side B has B1…BNn workstations. Both sides have separate loading platforms but share a common unloading platform. The XY right-angle arm on side A (consisting of one X-axis, one Y-axis, and one Z-axis) is primarily responsible for picking up unprocessed products from the loading platform on side A and placing them on the empty workstations on side A. After processing, the products are picked up again and placed on the unloading platform. The same process is repeated on side B.

[0071] In one embodiment, such as Figure 2 As shown, a scheduling and control method for a dual-action sub-equipment is provided. Taking the application of this method to the control terminal of a dual-action sub-equipment as an example, the method includes the following steps:

[0072] Step 202: In response to the scheduling task for the target product, determine the target moving device for performing the scheduling task.

[0073] For example, the control terminal may, in response to a scheduling task for a target product, determine a target moving device for performing the scheduling task for the target product.

[0074] Step 204: When the target moving device is in operation, obtain the device information of the opposite moving device, wherein the opposite moving device is the other moving device among the two moving devices besides the target moving device.

[0075] For example, in order to achieve the scheduling task of the target product, when planning the motion trajectory of the target moving device, it is necessary to first determine the movable range of the target moving device. Therefore, it is necessary to determine the interference range of the other moving device. At this time, the control terminal can set the other moving device as the opposing moving device and obtain the device information of the opposing moving device.

[0076] Step 206: When the optimized scheduling conditions are met, obtain the equipment information of the target moving sub-device and the working position where the target product is located.

[0077] For example, when the optimized scheduling conditions are met, the control terminal can obtain the equipment information of the target moving sub-device and the working position where the target product is located.

[0078] Step 208: Determine the non-interference trajectory based on the equipment information of the opposite moving part device, the target moving part device, and the working position where the target product is located.

[0079] For example, after obtaining the equipment information, a non-interference trajectory is determined based on the equipment information of the opposing moving part device, the target moving part device, and the working position where the target product is located.

[0080] Step 2010: Generate motion control commands based on the non-interference trajectory to drive the opposite moving sub-device to complete the scheduling task of the target product.

[0081] For example, the control terminal can generate motion control commands based on the non-interference trajectory to drive the opposite moving sub-device to complete the scheduling task of the target product.

[0082] In the above-mentioned scheduling and control method for dual-action sub-equipment, by reasonably deducing the technical features in the embodiments, the following beneficial effects can be achieved in solving the technical problems raised in the background art:

[0083] This application discloses a scheduling and control method for dual-moving sub-devices. The main method involves determining the working areas of the two moving sub-devices based on equipment information. During control, when one right-angled wall needs to move, the method responds to the scheduling task for the target product by identifying the target moving sub-device responsible for scheduling the target product and executing the scheduling task. Subsequently, the other moving sub-device can be designated as the opposing moving sub-device (i.e., within the dual-moving sub-device framework, when one moving sub-device is selected as the target moving sub-device, the other moving sub-device automatically participates in the calculation as the opposing moving sub-device). At this point, the equipment information of the opposing moving sub-device can be obtained, allowing the determination of the right-angled arm's position and the driving state of the currently executed task. This allows the determination of the non-interference trajectory within which the target moving sub-device can move safely during its motion—that is, the trajectory within the area where the target moving sub-device can safely move. Finally, motion control commands are generated based on the non-interference trajectory, driving the target moving sub-device to complete the scheduling control of the target product within the non-interference area. In practice, the solution provided in this application can utilize the equipment information of the opposing moving sub-equipment in real time during scheduling and control, flexibly determine the non-interference trajectory that can be used for the target moving sub-equipment's activities, and thus plan the activities of the target moving sub-equipment based on the non-interference trajectory, which helps to improve the scheduling and control efficiency of dual moving sub-equipment.

[0084] In one embodiment, such as Figure 3 As shown, the two moving devices each correspond to at least two working areas, and step 202 includes:

[0085] Step 302: Determine the work area where the target product is located.

[0086] Step 304: Determine the target moving device for performing the scheduling task based on the work area.

[0087] In one embodiment, the working area is determined by the size and operating area of ​​the corresponding moving device.

[0088] In one embodiment, such as Figure 4 As shown, step 204 includes:

[0089] Step 402: Obtain the operating status of the opposite moving part.

[0090] Step 404: When the opposite moving device is in an idle state, determine that the opposite moving device meets the optimized scheduling conditions, and at the same time obtain the position information and size information of the opposite moving device.

[0091] In one embodiment, such as Figure 5 As shown, step 208 includes:

[0092] Step 502: Obtain the current working area of ​​the target moving device based on the device information of the target moving device.

[0093] Step 504: Determine the non-interference area based on the position and size information of the opposite moving part and the current working area of ​​the target moving part, and determine the target safe position in combination with the working position of the target product.

[0094] Step 506: Determine the non-interference trajectory based on the position information of the opposite moving part, the target safe position, and the working position where the target product is located.

[0095] In one embodiment, such as Figure 6 As shown, step 504 includes:

[0096] Step 602: Remove the current working area of ​​the target moving device from the common area where the two moving devices are located to obtain the non-interference area.

[0097] For example, the control terminal can first obtain the common area information of the two moving devices, and remove the current working area of ​​the target moving device in the common area to obtain the non-interference area.

[0098] Step 604: Select the position in the non-interference area that is closest to the workstation where the target product is located as the target safe position.

[0099] For example, after determining the non-interference area, the control terminal can select the position closest to the working position of the target product in the non-interference area as the target safe position. At this time, the target safe position is a specific safe point.

[0100] Specifically, it can be like Figure 7 As shown, in a scheduling task performed by a target moving device, the target moving device starts at working position A1 and targets at working position B1n, while the opposite moving device moves at working position B1n. This is used as an example for explanation; other situations are similar and will not be elaborated upon. In scheduling control, after determining the non-interference zone, the control terminal can select point C1, which is closest to working position B1n, as the target safe position, and use point C1 as the target position for the first movement stage of the target moving device. When the opposite moving device at working position B1n leaves, the target moving device is controlled to move from point C1 to working position B1n, thereby achieving collision avoidance between the two moving devices.

[0101] In one embodiment, such as Figure 8 As shown, the steps preceding step 602 include:

[0102] Step 802: Create several activity area grids for the two moving devices to obtain the common area; wherein, the activity area grid is created with the real-time position of the moving device as the center and the moving direction of the moving device as the extension direction of the grid line, and all the working areas are located in different activity area grids.

[0103] For example, the control terminal can create several active area grids for each of the two moving devices to obtain the common area. In this case, the two active area grids will also form a non-interference grid area as they intersect. Movement within this non-interference grid area can prevent collisions between the two moving devices. Figure 7 To illustrate with a corresponding example, in scheduling control, the control terminal can first determine a non-interference grid, and then further determine the point C1 closest to the working position B1n within the non-interference grid as the target safe position. Subsequently, point C1 is used as the target position for the first movement stage of the target moving device. After the moving device on the opposite side at the working position B1n leaves, the target moving device is controlled to move from point C1 to the working position B1n, thereby achieving collision avoidance between the moving devices on both sides.

[0104] In this embodiment, when determining the non-interference region, the active region grid corresponding to the two moving devices is used as the basic active region. The trajectory interference region is used to cover and exclude the active region grid, and finally the non-interference region is obtained. In implementation, the non-interference region can be adapted to the actual movable range of the device, thereby improving the efficiency and accuracy of non-interference region determination.

[0105] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0106] Based on the same inventive concept, this application also provides a scheduling and control device for a dual-action sub-device, used to implement the scheduling and control method for a dual-action sub-device described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the scheduling and control device for a dual-action sub-device provided below can be found in the limitations of the scheduling and control method for a dual-action sub-device described above, and will not be repeated here.

[0107] In one embodiment, such as Figure 9 As shown, a scheduling and control device for a dual-motion sub-device is provided, comprising: the dual-motion sub-device includes two motion sub-devices, the motion sub-devices are independently controlled, and there is a common motion area between the two motion sub-devices; the device includes: a task response module, a device information module, an optimized scheduling discrimination module, a non-interference trajectory module, and a control command module.

[0108] The task response module is used to determine the target moving part for executing the scheduling task in response to the scheduling task for the target product;

[0109] The equipment information module is used to obtain equipment information of the opposite moving device when the target moving device is in operation. The opposite moving device is the other moving device among the two moving devices besides the target moving device.

[0110] The optimized scheduling judgment module is used to obtain the equipment information of the target moving sub-device and the working position of the target product when the optimized scheduling conditions are met.

[0111] The non-interference trajectory module is used to determine the non-interference trajectory based on the equipment information of the opposite moving part device, the target moving part device, and the working position where the target product is located;

[0112] The control command module is used to generate motion control commands based on the non-interference trajectory to drive the opposite moving sub-device to complete the scheduling task of the target product.

[0113] In one embodiment, the two moving devices each correspond to at least two working areas, and the task response module includes:

[0114] The work area determination module is used to determine the work area where the target product is located;

[0115] The device determination module is used to determine the target moving device for performing the scheduling task based on the working area.

[0116] In one embodiment, the working area is determined by the size and operating area of ​​the corresponding moving device.

[0117] In one embodiment, the device information module includes:

[0118] The operation status module is used to acquire the operation status of the opposite-side moving sub-device;

[0119] The status determination module is used to determine that the opposite moving device meets the optimized scheduling conditions when the opposite moving device is in an idle state, and at the same time obtain the position information and size information of the opposite moving device.

[0120] In one embodiment, the non-interference trajectory module includes:

[0121] The equipment information parsing module is used to obtain the current working area of ​​the target moving device based on the equipment information of the target moving device;

[0122] The target location determination module is used to determine the non-interference area based on the position and size information of the opposite moving part and the current working area of ​​the target moving part, and to determine the target safe location in combination with the working position of the target product;

[0123] The trajectory generation module is used to determine the non-interference trajectory based on the position information of the opposite moving sub-device, the target safety position, and the working position where the target product is located.

[0124] In one embodiment, the target location determination module includes:

[0125] The non-interference region determination module is used to remove the current working area of ​​the target moving device from the common area where the two moving devices are located to obtain the non-interference region;

[0126] The safe location selection module is used to select the location in the non-interference area that is closest to the workstation where the target product is located as the target safe location.

[0127] In one embodiment, the non-interference region determination module previously includes:

[0128] The common area determination module is used to create several activity area grids for the two moving devices respectively, so as to obtain the common area;

[0129] The activity area grid is created with the real-time position of the moving device as the center and the moving direction of the moving device as the extension direction of the grid lines, and all the working areas are located in different activity area grids.

[0130] Each module in the aforementioned scheduling and control device for a dual-action sub-equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0131] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a scheduling and control method for dual-function sub-devices. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0132] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0133] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0134] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0135] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0136] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0137] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0138] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0139] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A scheduling and control method for a dual-action sub-equipment, characterized in that, The dual-moving sub-device includes two moving sub-devices, each of which is independently controlled. The method includes: In response to a scheduling task for a target product, a target moving part is determined for performing the scheduling task; When the target moving device is in operation, the device information of the opposite moving device is obtained. The opposite moving device is the other moving device among the two moving devices besides the target moving device. When the optimized scheduling conditions are met, obtain the equipment information of the target moving sub-device and the working position where the target product is located; A non-interference trajectory is determined based on the equipment information of the opposing moving part and the target moving part, as well as the working position of the target product. Motion control commands are generated based on the non-interference trajectory to drive the opposite moving sub-device to complete the scheduling task of the target product; The determination of the non-interference trajectory based on the equipment information of the opposing moving part and the target moving part, as well as the working position of the target product, includes: The current working area of ​​the target moving device is obtained based on the device information of the target moving device; The non-interference zone is determined based on the position and size information of the opposite moving part and the current working area of ​​the target moving part, and the target safe position is determined in combination with the working position of the target product. The non-interference trajectory is determined based on the position information of the opposite moving part, the target safety position, and the working position where the target product is located.

2. The scheduling and control method according to claim 1, characterized in that, The two moving devices each correspond to at least two working areas, and determining the target moving device for executing the scheduling task includes: Determine the work area where the target product is located; The target moving device for performing the scheduling task is determined based on the work area.

3. The scheduling and control method according to claim 2, characterized in that, The working area is determined by the size and operating area of ​​the corresponding moving part.

4. The scheduling and control method according to claim 3, characterized in that, The acquisition of equipment information for the opposite moving part includes: Obtain the operating status of the opposite moving part; When the opposite moving device is in an idle state, it is determined that the opposite moving device meets the optimized scheduling conditions, and at the same time, the position information and size information of the opposite moving device are obtained.

5. The scheduling and control method according to claim 1, characterized in that, The process of determining the non-interference zone based on the position and size information of the opposing moving part and the current working area of ​​the target moving part, and determining the target safe position in conjunction with the working position of the target product, includes: The non-interference region is obtained by removing the current working area of ​​the target moving device from the common area where the two moving devices are located; The target safe position is selected as the location within the non-interference region that is closest to the workstation where the target product is located.

6. The scheduling control method according to claim 5, characterized in that, The step of removing the current working area of ​​the target moving device from the common area where the two moving devices are located to obtain the non-interference area includes: Several active area grids are created for each of the two moving devices to obtain the common area; The activity area grid is created with the real-time position of the moving device as the center and the moving direction of the moving device as the extension direction of the grid lines, and all the working areas are located in different activity area grids.

7. A scheduling and control device for a dual-action sub-equipment, characterized in that, The dual-moving sub-device includes two moving sub-devices, each of which is independently controlled. The device includes: The task response module is used to determine the target moving part for executing the scheduling task in response to the scheduling task for the target product; The equipment information module is used to obtain equipment information of the opposite moving device when the target moving device is in operation. The opposite moving device is the other moving device among the two moving devices besides the target moving device. The optimized scheduling judgment module is used to obtain the equipment information of the target moving sub-device and the working position of the target product when the optimized scheduling conditions are met. The non-interference trajectory module is used to determine the non-interference trajectory based on the equipment information of the opposite moving part device, the target moving part device, and the working position where the target product is located; A control command module is used to generate motion control commands based on the non-interference trajectory to drive the opposite moving sub-device to complete the scheduling task of the target product; The non-interference trajectory module includes: The equipment information parsing module is used to obtain the current working area of ​​the target moving device based on the equipment information of the target moving device; The target location determination module is used to determine the non-interference area based on the position and size information of the opposite moving part and the current working area of ​​the target moving part, and to determine the target safe location in combination with the working position of the target product; The trajectory generation module is used to determine the non-interference trajectory based on the position information of the opposite moving sub-device, the target safety position, and the working position where the target product is located.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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