A task generation and robot scheduling method and system based on cache area

Abstract

The present invention relates to a method and system for task generation and robot scheduling based on a buffer zone, the method comprising: a scheduling system generates a cache task for a buffer zone bound to each workstation in the specified area according to the task requirements of the specified area monitored in real time; a scheduling system evenly schedules robots between multiple buffer zones within a cache cycle according to the cache tasks of all buffer zones and all robots to be scheduled, so that each buffer zone caches robots; after the robots at each workstation complete the task, the scheduling system issues a scheduling instruction to all robots in the buffer zone bound to each workstation, the scheduling instruction is used to make each robot move to the next node according to a one-way queuing mechanism to complete the task in order. The above method effectively solves the robot idle problem caused by the mismatch of upstream and downstream tasks, and improves the overall operating efficiency of the factory automation system.

Description

Technical Field

[0001] The present invention relates to the technical field of robot scheduling, and in particular to a cache-based task generation and robot scheduling method and system. Background Art

[0002] In modern industrial production, automation technology has become a key factor in improving production efficiency and reducing costs. Especially in the field of logistics and warehousing, the application of automated forklift robots is becoming more and more popular. They play an important role in handling goods, loading and unloading materials, etc. These robots are usually intelligently scheduled by the upper-level scheduling system to optimize the operation process and resource allocation. However, in actual operation, due to the mismatch between the upstream and downstream task beats, some robots are often idle, resulting in a waste of resources.

[0003] That is to say, in the prior art, when the number of upstream and downstream tasks does not match, such as when the unloading tasks are more than the loading tasks, some robots will be idle in the rest area. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a cache-based task generation and robot scheduling method and system, which solves the technical problems in the prior art of mismatching upstream and downstream tasks, resulting in low robot efficiency and inability to effectively match tasks.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, an embodiment of the present invention provides a task generation and robot scheduling method based on a buffer area, comprising:

[0009] S100, the scheduling system generates cache tasks for the cache areas bound to each workstation in the designated area according to the task requirements of the designated area monitored in real time;

[0010] S200, the scheduling system evenly schedules robots among multiple cache areas within the cache cycle according to the cache tasks of all cache areas and all robots to be scheduled, so that each cache area caches robots;

[0011] S300. After the robots at each workstation complete their tasks, the scheduling system sends scheduling instructions to all robots in the buffer area bound to each workstation. The scheduling instructions are used to enable each robot to move to the next node according to the one-way queuing mechanism to complete the task in order.

[0012] Optionally, the S100 includes:

[0013] According to the following formula, the cache tasks of the cache area bound to each workstation in the specified area are dynamically generated. N buffer ;

[0014]

[0015] N require is the total number of tasks in the specified area;

[0016] N working The number of operations at each workstation in the specified area;

[0017] N bufferPoints is the number of topological points in the buffer area bound to the workstation; the topological point represents the robot.

[0018] Optionally, S200, the scheduling system evenly schedules robots among multiple cache areas within a cache cycle based on cache tasks in all cache areas and all robots to be scheduled, including:

[0019] Based on the cache tasks and all robots to be scheduled in all cache areas, and based on the cache area balanced taxi-calling strategy, the dispatching system evenly dispatches the topological points of the tasks to be assigned and the robots to be scheduled in multiple cache areas within the cache cycle, so that the topological points of multiple cache areas cache robots;

[0020] The cache area balanced taxi-hailing strategy is to minimize the total cost of the robots dispatched to each cache area.

[0021] Optionally, S200, the scheduling system evenly schedules robots among multiple cache areas within a cache cycle based on cache tasks in all cache areas and all robots to be scheduled, including:

[0022] The scheduling system matches the cached tasks in the cache area with all the robots to be scheduled; in each cache cycle, a new unassigned task is found from each cache area, all the unassigned tasks found are matched with all the robots to be scheduled, the cost of each robot reaching each unassigned task is obtained, the solution with the smallest cost of all robots matching the unassigned tasks is selected, and scheduling instructions are issued to the robot in the solution with the smallest cost, so that the robot receiving the scheduling instruction moves to the unassigned task topological point of the matching cache area to cache the robot.

[0023] Optionally, the buffer area is an area pre-generated by the scheduling system for caching robots, bound to a workstation, and physically located close to the bound workstation;

[0024] Alternatively, the cache area is an area generated by the dispatch system based on a user instruction in response to a map;

[0025] Alternatively, the buffer area includes an entry point and an exit point, and the exit point is closest to the workstation, and the buffer area is a one-way operation area.

[0026] Optionally, the robot operation areas are all grid areas, and the robot determines the cost value according to the grid in which it operates;

[0027] The designated area includes: a loading area and / or a unloading area.

[0028] In a second aspect, an embodiment of the present invention further provides a cache-based task generation and robot scheduling system, comprising:

[0029] A cache task generating unit, used to generate cache tasks for cache areas bound to each workstation in the designated area according to the task requirements of the designated area monitored in real time;

[0030] A robot cache unit is used to evenly schedule robots among multiple cache areas within a cache cycle according to cache tasks in all cache areas and all robots to be scheduled, so that each cache area caches robots;

[0031] The task sorting unit is used to send scheduling instructions to all robots in the buffer area bound to each workstation after the robots at each workstation complete the task. The scheduling instructions are used to make each robot move to the next node according to the one-way queuing mechanism to complete the task in order.

[0032] In a third aspect, an embodiment of the present invention further provides a scheduling system, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory, specifically executing any of the cache-based task generation and robot scheduling methods described in the first aspect above.

[0033] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, comprising: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the cache-based task generation and robot scheduling method as described in any of the first aspects are implemented.

[0034] (III) Beneficial effects

[0035] The method of the embodiment of the present invention can flexibly cope with task fluctuations in the production process, maintain a stable operation rhythm, and improve production efficiency.

[0036] Specifically, the scheduling system accurately controls the number of tasks generated in the buffer area to maximize the use of robot resources, reduce idle time, and improve the efficiency of the entire production process, that is, to achieve improved resource utilization efficiency;

[0037] The scheduling system can ensure that the robot always has tasks to execute by pre-assigning tasks to the cache area, avoiding downtime and waiting due to task mismatch, thereby improving the continuity of operations and achieving enhanced operation continuity;

[0038] The scheduling system performs balanced scheduling among multiple caches, and can reasonably allocate tasks according to real-time task requirements and cache capacity to ensure that the operating efficiency of each cache is maximized, while avoiding overloading of a cache due to excessive concentration of tasks, thus ensuring fairness and efficiency;

[0039] With the help of the one-way queuing mechanism of the robots in the buffer area, it can ensure that the robots can take over the next task in an orderly manner after completing a task, avoiding downtime and waiting due to task switching, thereby improving the continuity and efficiency of the operation. At the same time, the queuing mechanism helps to reduce the time from the robot completing a task to starting the next task, increase the operation speed, and thus improve the overall operation efficiency and reduce the task switching time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a process flow of generating a cache task in a cache area provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of evenly scheduling robots in multiple buffer zones according to an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of a robot that uniformly caches multiple cache areas according to an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of a process of orderly movement of robots within a buffer area provided by an embodiment of the present invention;

[0044] Figure 5 A schematic flow chart of a cache-based task generation and robot scheduling method provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0046] In order to solve this problem, the present invention proposes a task generation and robot scheduling method based on a buffer area. The method is applicable to a factory environment with different numbers of lanes in the east, south, west and north directions, where the loading and unloading areas are distributed in all directions of the factory. A large number of forklift robots are set up in the middle area of ​​the factory, which are scheduled by the upper scheduling system. When tasks are generated in the loading and unloading areas, the scheduling system will send the corresponding tasks to the robots. The robots run to the workstations to process tasks. The workstations in this embodiment can be understood as workstations where more than one robot processes tasks in parallel.

[0047] Embodiment 1

[0048] Before implementing the method of this embodiment, a cache area for each workstation can be pre-generated. For example, the cache area in this embodiment can be an area drawn by on-site users based on topological points on a map. Alternatively, it can be understood that the cache area is an area pre-generated by the scheduling system for caching robots that is bound to the workstation and is physically close to the bound workstation. In this embodiment, the topological point on the map can be understood as a location point where the robot stops and waits. The following cache area may include more than one topological point, which can cache more than one robot.

[0049] Combination Figures 1 to 5 As shown, this embodiment provides a task generation and robot scheduling method based on a buffer area, and the method of this embodiment includes the following steps:

[0050] S100: The scheduling system generates cache tasks for the cache areas bound to the workstations in the designated area according to the task requirements of the designated area monitored in real time.

[0051] For example, according to the following formula, the cache tasks of the cache area bound to each workstation in the specified area are dynamically generated: N buffer ;

[0052]

[0053] N require is the total number of tasks in the specified area;

[0054] N working The number of operations at each workstation in the specified area;

[0055] N bufferPoints is the number of topological points in the buffer area bound to the workstation; the topological point represents the robot.

[0056] Specifically, the scheduling system is based on the task requirements of the loading / unloading area monitored in real time, that is, the number of jobs at the current work station.N working and the total number of upstream / downstream tasks N require , and the number of topological points in the buffer bound to the workstation N bufferPoints , dynamically generate cache tasks N buffer , the specific formula is as follows:

[0057]

[0058] That is, the number of tasks generated by the cache area, i.e., the cache tasks, is equal to the minimum value of the total demand quantity minus the number of tasks of the workbench and the total number of topological points in the cache area.

[0059] The above-mentioned method of dynamically generating cache tasks can not only ensure the instant generation of cache area tasks, but also ensure that the number of generated tasks does not exceed the upper limit of the number of vehicles that the cache area can accommodate.

[0060] S200. The scheduling system evenly schedules robots among multiple cache areas within a cache cycle according to the cache tasks of all cache areas and all robots to be scheduled, so that each cache area caches robots.

[0061] For example, the dispatching system performs balanced dispatching of the topological points of the tasks to be assigned and the robots to be dispatched in multiple caches within the cache cycle based on the cache tasks and all the robots to be dispatched in all caches and the cached robots in the caches based on the cache balanced taxi-hailing strategy in the caches, so that the topological points in multiple caches cache the robots;

[0062] The cache area balanced taxi-hailing strategy is to minimize the total cost of all dispatched robots to the robots in each cache area in one dispatch of the cache cycle.

[0063] In a specific implementation, the scheduling system matches cached tasks in the cache area with all robots to be scheduled; finds a new unassigned task from each cache area in each cache cycle, matches all the unassigned tasks found with all the robots to be scheduled, obtains the cost of each robot reaching each unassigned task, selects the solution with the smallest cost of all robots matching the unassigned tasks, sends scheduling instructions to the robot in the solution with the smallest cost, and causes the robot receiving the scheduling instruction to move to the unassigned task topological point of the matching cache area to cache the robot.

[0064] The cost value of this embodiment can be understood as that the robot operation area is only the grid area, and each grid the robot runs can be understood as a cost value of 1, and the cost value of each scheduled operation of the robot is determined according to the grid in which the robot runs.

[0065] The solution with the minimum cost in this step may be the one with the minimum cost of all running robots in this scheduling within the cache period.

[0066] S300, after the robots at each workstation complete their tasks, the scheduling system sends scheduling instructions to all robots in the buffer area bound to each workstation, and the scheduling instructions are used to make each robot move to the next node according to the one-way queuing mechanism to complete the task in order. The node here can be the next topological point or workstation or a designated workstation within a workstation.

[0067] This step uses the queuing mechanism of the robots in the cache area to ensure that the robots can take over the next task in an orderly manner after completing the task, thereby improving operation continuity.

[0068] In order to maximize the use of the buffer area space design, when the exit robot leaves the buffer area, the internal robots will automatically move forward one position; it is understandable that the restriction conditions of the buffer area in this embodiment may include:

[0069] (1) All caches have entry and exit points and are one-way movement;

[0070] (2) All loading and unloading tasks will only match the robot at the exit of the buffer area;

[0071] (3) When an empty topological point appears in the front position of all the robots in the buffer area, the scheduling system will send a new target point in the current buffer area to achieve movement.

[0072] The method of this embodiment effectively solves the robot idleness problem caused by the mismatch of upstream and downstream tasks, and improves the overall operation efficiency of the factory automation system. That is, it allows the robot to be scheduled in advance when the task demand is uneven, thereby balancing the upstream and downstream beats and reducing the idle time of the robot.

[0073] To better understand the above step S200, Figure 2 Provide detailed explanation.

[0074] The purpose of S200 is to achieve balanced taxi calls among multiple caches, and to ensure fairness and efficiency in task allocation by performing balanced scheduling among multiple caches.

[0075] The scheduling system will periodically and dynamically match all tasks and robots in the specified area, where each match is called a cycle / round.

[0076] In this embodiment, the designated area may include a loading area and / or an unloading area, and the overall task is to dispatch information received by the system from other systems such as a monitoring and identification system / transmission system.

[0077] Under normal circumstances, each round will match all existing tasks and all robots, and find the allocation plan with the lowest total cost. In order to achieve the function of evenly calling cars in the cache area, each round will find a new unassigned task from the existing cache area for allocation, instead of solving all cache area tasks at once, to avoid the situation where some cache areas have multiple cars sent to them, while other cache areas have no cars to go to.

[0078] like Figure 2 As shown, Figure 2 The buffer area and tasks are shown in FIG. 1 . The circle represents the task. When the task is empty (no vertical line), it means that the task has been assigned. When the task is a circle with a vertical line, it means that the task has not been assigned. Figure 2 As can be seen, in each period, the scheduling system will select a task from each buffer for assignment. In the more detailed internal processing, only when other buffers have already been assigned tasks, will this buffer generate new assignable tasks. This solution can maximize the utilization of forklift robots and alleviate congestion.

[0079] Embodiment 2

[0080] The embodiment of the present invention further provides a buffer-based task generation and robot scheduling system, which includes:

[0081] A cache task generating unit, used to generate cache tasks for cache areas bound to each workstation in the designated area according to the task requirements of the designated area monitored in real time;

[0082] For example, according to the following formula, the cache tasks of the cache area bound to each workstation in the specified area are dynamically generated: N buffer ;

[0083]

[0084] N require is the total number of tasks in the specified area;

[0085] N working The number of operations at each workstation in the specified area;

[0086] N bufferPoints is the number of topological points in the buffer area bound to the workstation; the topological point represents the robot.

[0087] A robot cache unit is used to evenly schedule robots among multiple cache areas within a cache cycle according to cache tasks in all cache areas and all robots to be scheduled, so that each cache area caches robots;

[0088] For example, the dispatching system performs balanced dispatching of the topological points of the tasks to be assigned and the robots to be dispatched in multiple caches within the cache cycle based on the cache tasks and all the robots to be dispatched in all caches and based on the cache balance calling strategy in the caches, so that the topological points in multiple caches cache the robots;

[0089] The cache area balanced taxi-hailing strategy is to minimize the total cost of the robots dispatched to each cache area.

[0090] The task sorting unit is used to send scheduling instructions to all robots in the buffer area bound to each workstation after the robots at each workstation complete the task. The scheduling instructions are used to make each robot move to the next node according to the one-way queuing mechanism to complete the task in order.

[0091] The system of this embodiment effectively improves production efficiency and operation continuity and ensures the rational use of resources by controlling the number of tasks generated by the buffer zone, balancing the calling of vehicles in multiple buffer zones, and queuing vehicles within the buffer zone. This is reflected in the improvement of productivity, the guarantee of operation quality and accuracy, and the saving of raw materials and energy.

[0092] It is understandable that the robot of this embodiment may be a forklift robot. In the above description, part of the words "robot" and part of the words "car" refer to a forklift robot.

[0093] Since the system described in the above embodiment of the present invention is a system used to implement the method of the above embodiment of the present invention, a person skilled in the art can understand the specific structure and deformation of the system based on the method described in the above embodiment of the present invention, and thus will not be described in detail here. All systems used in the method of the above embodiment of the present invention belong to the scope of protection of the present invention.

[0094] In addition, an embodiment of the present invention also provides a scheduling system, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory, specifically executing the steps of the cache-based task generation and robot scheduling method described in any of the above embodiments.

[0095] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, which includes: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the cache-based task generation and robot scheduling method as described in any of the above embodiments are implemented.

[0096] It should be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0098] It should be noted that the word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising a number of different components and by means of a suitably programmed computer. Among the several means listed, several of these means may be embodied by the same hardware. The use of the words first, second, third, etc., is for convenience of expression only and does not indicate any order. These words may be understood as part of the name of the component.

[0099] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0100] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the technical solution should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0101] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention belong to the scope of the technical solution of the present invention and its equivalent technology, the present invention should also include these modifications and variations.

Claims

1. A task generation and robot scheduling method based on a buffer zone, characterized in that: The method is applicable to a factory environment with different numbers of lanes in the east, south, west and north directions. The method includes: S100, the scheduling system dynamically generates cache tasks for the cache area bound to each workstation in the designated area according to the task requirements of the designated area monitored in real time; the workstation is the workstation to which the robot runs and processes tasks in parallel; the cache area is an area pre-generated by the scheduling system for caching robots, bound to the workstation, and physically close to the bound workstation; the cache tasks do not exceed the upper limit of the number of vehicles that the cache area can accommodate; S200, the scheduling system evenly schedules robots among multiple cache areas within the cache cycle according to the cache tasks of all cache areas and all robots to be scheduled, so that each cache area caches robots; wherein the intermediate cost of all scheduled robots dispatched to each cache area in one scheduling of the cache cycle is the smallest; The restrictions on the buffer zone include: (1) All buffer zones have entry and exit points and are one-way movement; (2) All loading and unloading business tasks will only match the robot at the buffer zone exit; (3) When an empty topological point appears in the front position of all the robots in the buffer zone, the scheduling system will send a new target point in the current buffer zone to achieve movement; S300. After the robots at each workstation complete their tasks, the scheduling system sends scheduling instructions to all robots in the buffer area bound to each workstation. The scheduling instructions are used to enable each robot to move to the next node according to the one-way queuing mechanism to complete the task in order.

2. The method according to claim 1, characterized in that The S100 includes: According to the following formula, the cache tasks of the cache area bound to each workstation in the specified area are dynamically generated. N buffer ; ； N require is the total number of tasks in the specified area; N working The number of operations at each workstation in the specified area; N bufferPoints is the number of topological points in the buffer area bound to the workstation; the topological point represents the robot.

3. The method according to claim 1, characterized in that S200, the scheduling system evenly schedules robots among multiple cache areas within a cache cycle based on cache tasks in all cache areas and all robots to be scheduled, including: Based on the cache tasks and all robots to be scheduled in all cache areas, and based on the cache area balanced taxi-calling strategy, the dispatching system evenly dispatches the topological points of the tasks to be assigned and the robots to be scheduled in multiple cache areas within the cache cycle, so that the topological points of multiple cache areas cache robots; The cache area balanced taxi-hailing strategy is to minimize the total cost of the robots dispatched to each cache area.

4. The method according to claim 1, characterized in that: S200, the scheduling system evenly schedules robots among multiple cache areas within a cache cycle based on cache tasks in all cache areas and all robots to be scheduled, including: The scheduling system matches the cached tasks in the cache area with all the robots to be scheduled; in each cache cycle, a new unassigned task is found from each cache area, all the unassigned tasks found are matched with all the robots to be scheduled, the cost of each robot reaching each unassigned task is obtained, the solution with the smallest cost of all robots matching the unassigned tasks is selected, and scheduling instructions are issued to the robot in the solution with the smallest cost, so that the robot receiving the scheduling instruction moves to the unassigned task topological point of the matching cache area to cache the robot.

5. The method according to claim 1, characterized in that The cache area is an area generated by the dispatch system based on user instructions in response to the map; Alternatively, the buffer area includes an entry point and an exit point, and the exit point is closest to the workstation, and the buffer area is a one-way operation area.

6. The method according to claim 3 or 4, characterized in that: The robot operation area and the buffer area are both grid areas, and the robot determines the cost value according to the grid in which it operates; The designated area includes: a loading area and / or a unloading area.

7. A task generation and robot scheduling system based on a cache area, characterized in that: For factory environments with different numbers of lanes in the east, south, west and north directions, the dispatching system includes: The cache task generation unit is used to dynamically generate cache tasks for the cache area bound to each workstation in the designated area according to the task requirements of the designated area monitored in real time; the workstation is the workstation to which the robot runs and processes tasks in parallel; the cache area is an area pre-generated by the scheduling system for caching robots, bound to the workstation, and physically close to the bound workstation; the cache tasks do not exceed the upper limit of the number of vehicles that the cache area can accommodate; The restrictions on the buffer zone include: (1) All buffer zones have entry and exit points and are one-way movement; (2) All loading and unloading business tasks will only match the robot at the buffer zone exit; (3) When an empty topological point appears in the front position of all the robots in the buffer zone, the scheduling system will send a new target point in the current buffer zone to achieve movement; The robot cache unit is used to evenly schedule robots among multiple cache areas within a cache cycle according to cache tasks of all cache areas and all robots to be scheduled, so that robots are cached in each cache area; wherein the median cost of all scheduled robots dispatched to each cache area in one scheduling of the cache cycle is the smallest; The task sorting unit is used to send scheduling instructions to all robots in the buffer area bound to each workstation after the robots at each workstation complete the task. The scheduling instructions are used to make each robot move to the next node according to the one-way queuing mechanism to complete the task in order.

8. A scheduling system, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory, specifically executing the cache-based task generation and robot scheduling method described in any one of claims 1 to 6.

9. A computer-readable storage medium comprising: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the cache-based task generation and robot scheduling method according to any one of claims 1 to 6 are implemented.

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