Task issuing method and device, medium, equipment and product

Abstract

The invention discloses a task issuing method and device, a medium, equipment and a product, relates to the technical field of communication, and is used for improving the flexibility of carrying equipment. The method comprises the following steps: determining a target carrying device for executing a carrying task from a plurality of carrying devices; the target carrying equipment is the carrying equipment of which the matching cost with the carrying task is smaller than a matching cost threshold value in the multiple pieces of carrying equipment; the matching cost is determined according to the first distance and the second distance; the first distance is the moving distance of the carrying equipment within the remaining execution time, and the second distance is the distance between the carrying equipment and the initial area of the carrying task; the execution remaining time length is the time length from the current moment to the starting moment of carrying task execution; and sending the carrying task to the target carrying equipment.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular to a task issuing method, apparatus, medium, equipment and product. Background Art

[0002] In industrial production, since intelligent handling equipment can not only reduce labor costs but also improve handling efficiency, the application scope of industrial production through intelligent handling equipment has gradually expanded.

[0003] However, the starting area and destination area of ​​a smart handling device are usually fixed areas. The handling device cannot be adaptively adjusted to different objects to be handled, which may cause some handling devices to be non-working for a long time, and the flexibility of the handling device is poor. Summary of the invention

[0004] The present application provides a task issuing method, apparatus, medium, equipment and product for improving the flexibility of handling equipment.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a task issuing method is provided, the method comprising: determining a target transport device for executing a transport task from a plurality of transport devices; the target transport device is a transport device among the plurality of transport devices whose matching cost with the transport task is less than or equal to a matching cost threshold; the matching cost is determined based on a first distance and a second distance; the first distance is a moving distance of the transport device within a remaining execution time, and the second distance is a distance between the transport device and a starting area of ​​the transport task; the remaining execution time is the time distance from the current moment to the starting moment of executing the transport task; and the transport task is sent to the target transport device.

[0007] Optionally, the handling task includes a handling path; before determining the target handling equipment to perform the handling task from multiple handling equipment, the method also includes: constructing a regional directed graph; the regional directed graph is constructed based on the handling directions between two adjacent sub-areas in multiple sub-areas of the handling task area; and determining the handling path based on the regional directed graph and the handling direction of the handling task.

[0008] Optionally, constructing a regional directed graph corresponding to the transport task, including: determining the regional connectivity direction between two adjacent sub-regions based on the transport direction between the sub-region and the adjacent sub-region; constructing a regional directed graph based on the regional connectivity direction between two adjacent sub-regions, with each sub-region as a node and the regional connectivity direction between two adjacent sub-regions as a directed edge.

[0009] Optionally, the transport path is determined based on the regional directed graph corresponding to the transport task and the transport direction of the transport task, including: determining at least one candidate path from the starting area of ​​the transport task to the destination area of ​​the transport task in the regional directed graph; and determining the candidate path with the least number of sub-areas among multiple candidate paths as the transport path.

[0010] Optionally, sending a handling task to a target handling device includes: determining whether the target handling device meets a first preset requirement; the first preset requirement includes at least one of the following: a network uplink bandwidth greater than an uplink bandwidth threshold, a downlink bandwidth greater than a downlink bandwidth threshold, and a network delay greater than a delay threshold; and sending the handling task to the target handling device if the first preset requirement is met.

[0011] Optionally, when there are multiple transport tasks, sending the transport tasks to the target transport equipment includes: sending the transport tasks to the target transport equipment in sequence according to the priority of each transport task; the priority is negatively correlated with the remaining execution time of the transport task.

[0012] Based on the technical solution provided by the present application, a target transporting equipment for performing a transporting task is determined from a plurality of transporting equipment, and the transporting task is sent to the target transporting equipment. Since the matching cost is determined based on the first distance and the second distance; the first distance is the moving distance of the transporting equipment within the remaining execution time, and the second distance is the distance between the transporting equipment and the starting area of ​​the transporting task; the remaining execution time is the distance from the current moment to the starting moment of the transporting task. In this way, the distance between the transporting equipment and the starting area of ​​the transporting task and the distance that the transporting equipment can travel within the remaining execution time can be comprehensively considered. Since the target transporting equipment is a transporting equipment among a plurality of transporting equipment whose matching cost with the transporting task is less than the matching cost threshold, that is, the transporting equipment that is closer to the starting area of ​​the transporting task and has a shorter travel distance within the remaining execution time can be selected as much as possible, thereby reducing the moving distance of the transporting equipment and avoiding the selection of transporting equipment with a longer transportable distance within the remaining execution time, thereby improving the flexibility of the transporting equipment.

[0013] In the second aspect, a task issuing device is provided, which includes: a determination unit and a sending unit; the determination unit is used to determine a target transport equipment for performing a transport task from multiple transport equipment; the target transport equipment is a transport equipment among the multiple transport equipment whose matching cost with the transport task is less than or equal to a matching cost threshold; the matching cost is determined based on a first distance and a second distance; the first distance is a moving distance of the transport equipment within the remaining execution time, and the second distance is a distance between the transport equipment and a starting area of ​​the transport task; the remaining execution time is the time distance from the current moment to the starting moment of executing the transport task; the sending unit is used to send the transport task to the target transport equipment.

[0014] Optionally, the handling task includes a handling path; the device also includes a processing unit, which is used to construct a regional directed graph before determining a target handling device for performing the handling task from multiple handling devices; the regional directed graph is constructed based on the handling directions between two adjacent sub-regions in multiple sub-regions of the handling task area; the determination unit is also used to determine the handling path based on the regional directed graph and the handling direction of the handling task.

[0015] Optionally, the processing unit is specifically used to: determine the regional connectivity direction between two adjacent sub-regions based on the transport direction between the sub-region and the adjacent sub-region; and construct a regional directed graph based on the regional connectivity direction between two adjacent sub-regions, with each sub-region as a node and the regional connectivity direction between two adjacent sub-regions as a directed edge.

[0016] Optionally, based on the regional directed graph corresponding to the transport task and the transport direction of the transport task, a determination unit is specifically used to: determine at least one candidate path from the starting area of ​​the transport task to the destination area of ​​the transport task in the regional directed graph; and determine the candidate path with the least number of sub-areas among multiple candidate paths as the transport path.

[0017] Optionally, the sending unit is specifically used to: determine whether the target handling equipment meets a first preset requirement; the first preset requirement includes at least one of the following: the network uplink bandwidth is greater than the uplink bandwidth threshold, the downlink bandwidth is greater than the downlink bandwidth threshold, and the network delay is greater than the delay threshold; if the first preset requirement is met, send the handling task to the target handling equipment.

[0018] Optionally, when there are multiple transport tasks, the sending unit is specifically used to: send the transport tasks to the target transport equipment in sequence according to the priority of each transport task; the priority is negatively correlated with the remaining execution time of the transport task.

[0019] On the third aspect, a task issuing device is provided, which can implement the functions performed by the task issuing device in the above-mentioned aspects or possible designs. The functions can be implemented through hardware, such as: in one possible design, the task issuing device may include: a processor and a communication interface, and the processor can be used to support the task issuing device to implement the functions involved in the above-mentioned first aspect or any possible design of the first aspect.

[0020] In another possible design, the task issuing device may further include a memory, the memory being used to store computer execution instructions and data necessary for the task issuing device. When the task issuing device is running, the processor executes the computer execution instructions stored in the memory, so that the task issuing device executes the first aspect or any possible task issuing method of the first aspect.

[0021] In a fourth aspect, a computer-readable storage medium is provided, which may be a readable non-volatile storage medium, and which stores computer instructions or programs. When the computer-readable storage medium is run on a computer, the computer can execute the first aspect or any possible task issuing method of the above aspects.

[0022] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the task issuing method of the first aspect or any possible design of the above aspects.

[0023] In a sixth aspect, an electronic device is provided, the electronic device comprising one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, the one or more memories are used to store computer program codes, the computer program codes include computer instructions, and when the one or more processors execute the computer instructions, the electronic device executes the task delivery method as described in the first aspect or any possible design of the first aspect.

[0024] In a seventh aspect, a chip system is provided, the chip system including a processor and a communication interface, the chip system can be used to implement the function performed by the task issuing device in the first aspect or any possible design of the first aspect. In one possible design, the chip system also includes a memory, the memory is used to store program instructions and / or data. The chip system can be composed of a chip, or it can include a chip and other discrete devices, without limitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the structure of a task issuing system provided in an embodiment of the present application;

[0026] Figure 2 A structural diagram of another task issuing system provided in an embodiment of the present application;

[0027] Figure 3 A schematic diagram of the structure of a cloud-based collaborative AI control system for handling equipment provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of a remote control strategy model for handling equipment provided in an embodiment of the present application;

[0029] Figure 5 A schematic diagram of the structure of a task issuing device provided in an embodiment of the present application;

[0030] Figure 6 A flowchart of a task issuing method provided in an embodiment of the present application;

[0031] Figure 7 A flowchart of another method for issuing tasks provided in an embodiment of the present application;

[0032] Figure 8 A schematic diagram of the structure of a regional directed graph provided in an embodiment of the present application;

[0033] Fig. 9 A flowchart of another method for issuing tasks provided in an embodiment of the present application;

[0034] Fig.10 A schematic diagram of the structure of another task issuing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0037] It should also be understood that the term “comprising” indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements and / or components.

[0038] With the rapid development of Industry 4.0, in industrial production, intelligent handling equipment (industrial robots, such as Automatic Guided Vehicles (AGV)) can not only reduce labor costs, but also improve production efficiency. Therefore, the application scope of industrial production through intelligent handling equipment has gradually expanded.

[0039] At present, the intelligent handling equipment (such as AGV vehicles) involved in flexible production in factories all use industrial access points (APs) for remote collaborative control. Industrial APs have problems such as business control delay, network security, and network stability. There are problems such as equipment disconnection and re-access across AP intervals, which pose certain production risks to on-site operations of intelligent handling equipment.

[0040] In some embodiments, the collaborative operation capability of the intelligent handling equipment can be improved through multiple edge devices. For example, the edge device can be used to send the jointly planned path movement, control instructions issued by the edge server, global task allocation, regional level path planning, etc. to the intelligent handling equipment.

[0041] Among them, multiple edge devices control the intelligent handling equipment in different areas respectively. In this way, the problem of edge devices being unable to connect to industrial robots due to signal weakening due to a large area can be avoided.

[0042] However, the starting area and destination area of ​​a smart handling device are usually fixed areas. The handling device cannot be adaptively adjusted to different objects to be handled, which may cause some handling devices to be non-working for a long time, resulting in poor utilization of the handling equipment.

[0043] In view of this, an embodiment of the present application provides a task issuing method, including: determining a target transport device for executing a transport task from multiple transport devices; the target transport device is a transport device among the multiple transport devices whose matching cost with the transport task is less than a matching cost threshold; the matching cost is determined based on a first distance and a second distance; the first distance is a moving distance of the transport device within the remaining execution time, and the second distance is a distance between the transport device and a starting area of ​​the transport task; the remaining execution time is the time distance from the current moment to the starting moment of executing the transport task; and the transport task is sent to the target transport device.

[0044] The method provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0045] It should be noted that the network system described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of network systems and the emergence of other network systems, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0046] Figure 1 FIG. 1 is a schematic diagram of a task delivery system 10 provided in an embodiment of the present application. Figure 1 As shown, the task issuing system 10 may include a handling device 11 and a task issuing apparatus 12 .

[0047] The terminal device 11 is connected to the task issuing device 12. For example, the terminal device 11 and the task issuing device 12 may be connected wirelessly, or they may be connected wiredly.

[0048] Among them, the handling equipment 11 involved in the embodiments of the present application is used to perform multiple assigned handling tasks. It can also be called an industrial robot, an intelligent robot, an AGV vehicle, etc. For example, the handling equipment 11 can be heavy material handling equipment, large material handling equipment, a small locomotive handling equipment, an unmanned forklift handling equipment, etc. The embodiments of the present application do not limit the specific technology, specific number, and specific equipment form adopted by the handling equipment 11.

[0049] The task issuing device 12 involved in the embodiment of the present application is used to determine the target transport device for executing the transport task and send the transport task to the target transport device.

[0050] In some embodiments, the task issuing device 12 may also be a server, a computer, etc. Among them, the server may be a single server, or it may be a server cluster composed of multiple servers. In some implementations, the server cluster may also be a distributed cluster. The embodiments of the present application do not limit the specific technology, specific number, and specific device form of the task issuing device 12. The embodiments of the present application do not limit the specific technology, specific number, and specific device form of the task issuing device 12.

[0051] Figure 1 This is just an exemplary framework diagram. Figure 1 The names of the individual devices included in the Figure 1 In addition to the functional nodes shown, other nodes may also be included, which is not limited in the embodiments of the present application.

[0052] Figure 2 FIG. 1 is a schematic diagram of the structure of another task issuing system 10 provided in an embodiment of the present application. Figure 1 As shown, the task issuing system 10 may include an application layer, a data processing service layer, a network layer, and a device layer.

[0053] The application layer and data processing service layer are used to provide a cloud-based collaborative artificial intelligence (AI) control system for handling equipment, and process remote monitoring, scheduling management, and business logic for handling equipment. The system is deployed on the server side corresponding to the edge device (multi-access edge computing, MEC).

[0054] The network layer is used to provide communication networks (such as 5G networks, etc.), 5G industrial gateways, and MEC computing services for the handling equipment operation area to solve wireless signal data transmission, data diversion control, etc. The 5G industrial gateway collects operating data and sends the operating data to the cloud-based collaborative AI control system through the 5G industrial gateway. MEC computing services provide three services:

[0055] Service 1: Low-latency private network guarantee service: Access to the 5G network and combined with mobile network slicing technology can provide end-to-end low-latency, secure and isolated private network guarantee services for production sites.

[0056] Service 2: Local data diversion service: the operating data of the handling equipment is directly transmitted to the local data center platform of the production smart factory through the wireless network, realizing local logic processing or centralized analysis, adaptation, storage and strategy formulation of industrial data, and can be fed back to the execution system within millisecond delay to realize closed-loop control at the industrial site (that is, confidential data does not need to flow to the core network side).

[0057] Service 3: On-site high-bandwidth monitoring and analysis services: While providing proximal network services for production equipment on site, it can also provide high-bandwidth services such as audio and video instant communication and video monitoring for handling equipment operations.

[0058] Among them, the cloud-based collaborative AI control system of the handling equipment is deployed on the edge side, such as Figure 3 As shown, the cloud-based collaborative AI control system for handling equipment includes a data acquisition subsystem, a data analysis subsystem, a computing resource scheduling subsystem, and an AI control strategy subsystem.

[0059] The data acquisition subsystem is used to obtain the operating data of the handling equipment. The data analysis subsystem is used to store and manage the operating data, and to learn, train, and evaluate the operating data. The computing resource scheduling subsystem is used to monitor the computing resources of the edge computing server and the performance indicators of the factory 5G network, and allocate resources according to the on-site business scenarios. The AI ​​control strategy subsystem is used to build a remote control strategy model for handling equipment. It uses the output result data of the data analysis subsystem and the computing resource scheduling subsystem as the input source, generates a remote control strategy for the handling equipment based on the on-site production status, combined with the production process characteristics of the production line, and the handling equipment required in different links and time periods, and sends the remote control strategy to the handling equipment through the 5G network.

[0060] Figure 4 A schematic diagram of a remote control strategy model for handling equipment is shown. Figure 4 As shown, the remote control strategy model of the handling equipment includes an analysis model, a selection and scheduling model, an optimization model, a strategy model, and an application model.

[0061] The analysis model is used to perform data analysis based on the operation data of the handling equipment and the production plan data. The quality of the policy model can be evaluated by using the test set, and the application model can be applied to real business scenarios. The results of the test set and the real business scenario are used to further optimize the model. The scheduling model is used to send handling tasks to different handling equipment. And the scheduling results are sent to the analysis model.

[0062] When implementing it specifically, Figure 1 Each device in the Figure 5 The structure shown, or including Figure 5 Parts shown. Figure 5 The structure diagram of a task issuing device 200 provided in an embodiment of the present application is shown in FIG. 2 . The task issuing device 200 may be a network device, or the task issuing device 200 may be a chip or a system on a chip in the network device. Figure 5 As shown, the task issuing device 200 includes a processor 201 , a communication interface 202 and a communication line 203 .

[0063] Furthermore, the task issuing device 200 may also include a memory 204. The processor 201, the memory 204 and the communication interface 202 may be connected via a communication line 203.

[0064] The processor 201 is a CPU, a general processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 201 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0065] The communication interface 202 is used to communicate with other devices or other communication networks. The communication interface 202 can be a module, a circuit, a communication interface or any device capable of implementing communication.

[0066] The communication line 203 is used to transmit information between the components included in the task issuing device 200.

[0067] The memory 204 is used to store instructions, where the instructions may be computer programs.

[0068] The memory 204 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0069] It should be noted that the memory 204 can exist independently of the processor 201, or can be integrated with the processor 201. The memory 204 can be used to store instructions or program codes or some data, etc. The memory 204 can be located in the task issuing device 200, or can be located outside the task issuing device 200, without limitation. The processor 201 is used to execute the instructions stored in the memory 204 to implement the task issuing method provided in the following embodiments of the present application.

[0070] In one example, the processor 201 may include one or more CPUs, for example, Figure 2 CPU0 and CPU1 in.

[0071] As an optional implementation, the task issuing device 200 includes multiple processors, for example, Figure 2 In addition to the processor 201, a processor 205 may also be included.

[0072] It should be pointed out that Figure 5 The composition shown in the Figure 1 The limitations of each device in Figure 5 In addition to the parts shown, Figure 1 The individual devices in the Figure 5 More or fewer components, or combinations of certain components, or different arrangements of components.

[0073] In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices.

[0074] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiments of the present application is only an example, and other names can also be used in the specific implementation without limitation.

[0075] In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0076] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0077] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0078] Combine the following Figure 2 The task issuing system shown describes the task issuing method provided in the embodiment of the present application.

[0079] Figure 6 A flowchart of a task delivery method provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the method includes the following S301-S302:

[0080] S301 , determining a target transport device for executing a transport task from a plurality of transport devices.

[0081] The transport task may be to transport the object to be transported from the starting point to the destination. The object to be transported may be materials required for different processes of the production line, etc.

[0082] The target transport equipment is a transport equipment whose matching cost with the transport task is less than or equal to the matching cost threshold among the multiple transport equipments. The matching cost threshold can be set as needed. For example, it can be the smallest matching cost among the multiple transport equipment matching costs.

[0083] The matching cost is determined based on a first distance and a second distance. The first distance is the moving distance of the transport equipment within the remaining execution time, and the second distance is the distance between the transport equipment and the starting area of ​​the transport task.

[0084] The remaining execution time is the time from the current time to the start time of the handling task. The remaining execution time can be used to indicate the urgency of the handling task. The smaller the remaining execution time, the more urgent the handling task. In this case, the task issuing device can sequentially assign target handling equipment to the most urgent handling task.

[0085] In one example, the first distance is the moving distance of the transport equipment within the remaining execution time, which can be determined according to the following formula 1:

[0086] L1=T*VFormula 1

[0087] Wherein, L1 represents the first distance, T represents the remaining execution time, and V represents the moving speed of the transport device, and different transport devices have different moving speeds.

[0088] As a possible implementation manner, the task issuing device may determine the sum of the first distance and the second distance as the matching cost, and determine the transport equipment whose matching cost is less than the matching cost threshold as the target transport equipment.

[0089] As another possible implementation method, the task issuing device can assign a first weight to the first distance and a second weight to the second distance, and determine the sum of the product of the first distance and the first weight and the product of the second distance and the second weight as the matching cost, and determine the transport equipment with a matching cost less than the matching cost threshold as the target transport equipment.

[0090] The first weight and the second weight can be set as needed. For example, the first weight can be 0.5 and the second weight can be 0.5. For another example, the first weight can be 0.4 and the second weight can be 0.6.

[0091] It should be noted that a positioning module is provided in the transport equipment, and the task issuing device can obtain the location information of each transport equipment from the positioning module, and determine the second distance of each transport equipment based on the positioning information and the location information of the starting area of ​​the transport task of each transport equipment. The first distance of each transport equipment is determined based on the above formula 1.

[0092] In some embodiments, when there are multiple transport tasks and multiple transport equipment, the task issuing device can select the transport equipment with the smallest matching cost as the target transport equipment for each transport task in order of the corresponding remaining execution time from small to large.

[0093] S302: Sending a transport task to a target transport device.

[0094] As a possible implementation manner, the task issuing device may obtain a network port identifier of the target transport device, and send the transport task to the target transport device based on the network port identifier.

[0095] As another possible implementation, the task issuing device may determine whether the target transport equipment meets the first preset requirement, and if the first preset requirement is met, obtain the network port identifier of the target transport equipment, and send the transport task to the target transport equipment based on the network port identifier.

[0096] It should be noted that the first preset requirement includes at least one of the following: the network uplink bandwidth is greater than the uplink bandwidth threshold, the downlink bandwidth is greater than the downlink bandwidth threshold, and the network delay is greater than the delay threshold.

[0097] The uplink bandwidth threshold, downlink bandwidth threshold, and network delay threshold can be set as needed. For example, the uplink bandwidth threshold can be 100 megaseconds (M / S), the downlink bandwidth threshold can be 1000 M / S, and the network delay threshold can be 500 milliseconds.

[0098] In some embodiments, when the target transport device needs to perform multiple transport tasks, the task issuing device may determine the priority of each transport task, and send the transport tasks to the target transport device in sequence according to the priority of each transport task.

[0099] The priority is negatively correlated with the remaining execution time of the transport task. The smaller the remaining execution time of the transport task, the greater the priority of the transport task.

[0100] In some embodiments, when the target transport equipment needs to perform multiple transport tasks, the task issuing device may generate a task set for the target transport equipment and send the task set to the target transport equipment.

[0101] In one example, the starting area and the destination area of ​​the transport task may be equipped with production equipment with different production processes. For different production plans, the task issuing device may generate different task sets.

[0102] For example, the plan set corresponding to the production plan may be {P1, P2, P3, ..., Pn}. Each production plan in the plan set may include at least one production process. For example, the production process ranking set of the production plan P1 may be {S11, S12, ..., S1n}. Similarly, the production process priority set of the production plan Pn = {Sn1, Sn2, ..., Snn}.

[0103] Among them, S11 refers to production process 1, S12 refers to production process 2, and S1n refers to production process n; S11 must be completed before entering S12, and so on, until production process n is completed, the production plan P1 ends.

[0104] Among them, the priority relationship of each production plan in the plan set can be: P1>P2>P3>…>Pn.

[0105] Furthermore, each process corresponding to each production plan may generate different handling tasks. In one example, the task set generated by the task issuing device may be as shown in Table 1 below.

[0106] Table 1 Task set diagram

[0107]

[0108] It should be noted that the content in Table 1 is only an exemplary description, and the task set may also include other transport task data without limitation.

[0109] In practical applications, the task issuing device can generate multiple remote control instructions based on Table 1, perform protocol encapsulation on the remote control instructions, and send the encapsulated remote control instructions to the handling equipment through the communication network.

[0110] Among them, the communication network can be a local area network or a 5G network, etc.

[0111] In some embodiments, after receiving the transport task, the transport device may send a feedback control result to the task issuing device.

[0112] The feedback result may be that the transport task has been received, or that the transport task has been completed.

[0113] If no feedback control result is detected within a preset time after the transport task is issued, the task issuing device can determine that the transport equipment is abnormal and send the transport task to a new transport equipment.

[0114] Based on the technical solution provided by the present application, a target transporting equipment for performing a transporting task is determined from a plurality of transporting equipment, and the transporting task is sent to the target transporting equipment. Since the matching cost is determined based on the first distance and the second distance; the first distance is the moving distance of the transporting equipment within the remaining execution time, and the second distance is the distance between the transporting equipment and the starting area of ​​the transporting task; the remaining execution time is the distance from the current moment to the starting moment of the transporting task. In this way, the distance between the transporting equipment and the starting area of ​​the transporting task and the distance that the transporting equipment can travel within the remaining execution time can be comprehensively considered. Since the target transporting equipment is a transporting equipment among a plurality of transporting equipment whose matching cost with the transporting task is less than the matching cost threshold, that is, the transporting equipment that is closer to the starting area of ​​the transporting task and has a shorter travel distance within the remaining execution time can be selected as much as possible, thereby reducing the moving distance of the transporting equipment and avoiding the selection of transporting equipment with a longer transportable distance within the remaining execution time, thereby improving the flexibility of the transporting equipment.

[0115] A possible embodiment, Figure 7 A flowchart of another task issuing method provided in an embodiment of the present application is shown as follows: Figure 7 As shown, before determining the target transport device for performing the transport task from a plurality of transport devices, the task issuing method of the present application may further include the following S401-S402.

[0116] S401. Construct a regional directed graph.

[0117] The regional directed graph is constructed based on the transport direction between two adjacent sub-regions in the plurality of sub-regions of the transport task region. The transport direction between the two sub-regions may be pre-set.

[0118] As a possible implementation method, the task issuing device can determine the regional connectivity direction between two adjacent sub-regions based on the transportation direction between the sub-region and the adjacent sub-region, and construct a regional directed graph based on the regional connectivity direction between two adjacent sub-regions, with each sub-region as a node and the regional connectivity direction between two adjacent sub-regions as a directed edge.

[0119] In one example, for sub-area A, which is adjacent to sub-area B, if the objects to be transported in sub-area A can be transported to sub-area B, but the objects to be transported in sub-area B cannot be transported to sub-area A, then the direction of item transport between sub-area A and the adjacent sub-area B is A→B, and the direction of regional connectivity between the two sub-areas is the same as the transport direction, which is also A→B.

[0120] In some embodiments, the regional connection direction may include unidirectional connection and bidirectional connection. For example, for the above sub-region A and the adjacent sub-region B, since the items in sub-region A can be transported to sub-region B, and the items in sub-region B cannot be transported to sub-region A, the regional connection direction of the two sub-regions is unidirectional connection. If the items in sub-region A can be transported to sub-region B, and the items in sub-region B can be transported to sub-region A, then the regional connection direction of the two sub-regions is bidirectional connection.

[0121] When the regional connection direction is bidirectional, the task issuing device can dynamically switch the regional connection direction according to scheduling needs, such as setting the regional connection direction to forward in one task period and setting the regional connection direction to reverse in another task period.

[0122] In one example, it is determined that nodes a and b, nodes b and d, nodes d and e, nodes e and c, and nodes c and a are all bidirectionally connected. Thus, according to the regional connectivity directions between the nodes, the following can be established: Figure 8 The region shown is a directed graph.

[0123] S402: Determine a transport path according to the regional directed graph and the transport direction of the transport task.

[0124] The transport path is used to indicate the sub-area along which the transport equipment performs the transport task.

[0125] As a possible implementation method, the task issuing device can determine at least one candidate path from the starting area of ​​the transport task to the destination area of ​​the transport task in the regional directed graph, and determine the candidate path with the least number of sub-areas in the at least one candidate path as the transport path.

[0126] In one example, combining Figure 8 , the area directed graph may include node a, node b, node c, node d, and node e. When the starting area of ​​the transport task is node a and the destination area of ​​the transport task is node d, the candidate paths may include candidate path 1 (abd) and candidate path 2 (aced). That is, the number of sub-areas in candidate path 1 is 3, the number of sub-areas in candidate path 2 is 4, and the number of sub-areas in candidate path 1 is the least, then the task issuing device may determine that candidate path 1 is the transport path.

[0127] As another possible implementation method, the task issuing device can determine at least one candidate path from the starting area of ​​the transport task to the destination area of ​​the transport task in the regional directed graph, and determine the candidate path in which there is no transport equipment from the route nodes of at least one candidate path, and further, determine the candidate path with the least number of sub-areas among the candidate paths in which there is no transport equipment at the route nodes as the transport path.

[0128] The passing nodes refer to other passing nodes except the starting area node and the destination area node of the candidate path. For example, the passing nodes of the candidate path 1 are b nodes, and the passing nodes of the candidate path 2 are c nodes and e nodes.

[0129] In one example, combining the above Figure 8 In the case where there is a transport device at the node b passing through in the candidate path 1 (abd), the task issuing device can determine the candidate path 2 (aced) as the transport path.

[0130] It can be understood that through the above method, a regional directed graph representing the connectivity relationship between sub-regions can be established according to the regional connectivity direction between two adjacent sub-regions, and the complex regional relationship can be represented as a simple mathematical model, so that the transport path can be quickly generated when planning the transport path.

[0131] A possible embodiment, Fig. 9 A flowchart of another task issuing method provided in an embodiment of the present application is shown as follows: Fig. 9 As shown, the task issuing method of the present application may also include the following S501-S507.

[0132] S501, establishing a network connection between the task issuing device and the handling equipment.

[0133] The execution progress may be used to indicate the elapsed execution time of the current task.

[0134] In one example, the transport equipment may be within the network signal coverage of the edge device, and the task issuing device is connected to the edge device. Then, a network connection between the task issuing device and the transport equipment may be established through the edge device.

[0135] S502: Determine whether the target transport equipment meets a first preset requirement.

[0136] The specific content of this step can be referred to the description of S302 above, which will not be repeated here.

[0137] When the first preset requirement is met, the following S504 is executed.

[0138] If the first preset requirement is not met, the following S503 is executed.

[0139] S503: Optimize the network of the handling equipment.

[0140] In one example, the task issuing device may send a first instruction message to the transport equipment to optimize the network of the transport equipment.

[0141] The first instruction message is used to instruct the transport equipment to switch the gateway.

[0142] For example, the handling equipment may be provided with a master gateway and a slave gateway. When the gateway used by the handling equipment is the master gateway, the first indication message is used to indicate that the gateway used by the handling equipment is switched from the master gateway to the slave gateway. When the gateway used by the handling equipment is the slave gateway, the first indication message is used to indicate that the gateway used by the handling equipment is switched from the slave gateway to the master gateway.

[0143] Furthermore, after the network of the transport equipment is optimized, the task issuing device may re-execute S502.

[0144] S504: Obtain operation data.

[0145] The operation data may include the location of the object to be transported, the priority of the transport task, the transport time, the number of transports, the environmental data of the transport equipment, etc.

[0146] As a possible implementation method, the device management subsystem in the industrial control cloud platform stores operation data, and the task issuing device can send an operation data request message to the device management subsystem in the industrial control cloud platform to obtain the operation data.

[0147] S505: Clean the operation data.

[0148] As a possible implementation method, the task issuing device can remove abnormal data (also called illegal data, dirty data, etc.) in the operation data to clean the operation data.

[0149] The abnormal data may be null value data or data whose difference with other operating data is greater than a preset ratio, which may be 50%, 100%, etc.

[0150] S506: Determine a target transport device for executing the transport task from among a plurality of transport devices.

[0151] The specific content of this step can be referred to the description of S301 above, which will not be repeated here.

[0152] S507: Send the transport task to the target transport equipment.

[0153] The specific content of this step can be referred to the description of S302 above, which will not be repeated here.

[0154] The embodiment of the present application can divide the task issuing device into functional modules or functional units according to the above method example. For example, each functional module or functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic, which is only a logical function division. There may be other division methods in actual implementation.

[0155] In the case of dividing each functional module into corresponding functional modules, Fig.10 The structure diagram of a task issuing device 600 is shown, and the task issuing device may be a terminal device, or a chip or processor used in the terminal device, etc. The task issuing device 600 may be used to perform the functions of the task issuing device involved in the above embodiments. Fig.10 The task issuing device 600 shown may include: a determination unit 601 and a sending unit 602; the determination unit 601 is used to determine a target transport device for performing a transport task from multiple transport devices; the target transport device is a transport device among multiple transport devices whose matching cost with the transport task is less than or equal to a matching cost threshold; the matching cost is determined based on a first distance and a second distance; the first distance is a moving distance of the transport device within the remaining execution time, and the second distance is a distance between the transport device and the starting area of ​​the transport task; the remaining execution time is the time distance from the current moment to the starting moment of executing the transport task; the sending unit 602 is used to send the transport task to the target transport device.

[0156] Optionally, the transport task includes a transport path; the device also includes a processing unit 603, and before determining the target transport equipment to perform the transport task from multiple transport equipment, the processing unit 603 is used to construct a regional directed graph; the regional directed graph is constructed based on the transport directions between two adjacent sub-areas in multiple sub-areas of the transport task area; the determination unit 601 is also used to determine the transport path based on the regional directed graph and the transport direction of the transport task.

[0157] Optionally, the processing unit 603 is specifically used to: determine the regional connectivity direction between two adjacent sub-regions based on the transport direction between the sub-region and the adjacent sub-region; and construct a regional directed graph based on the regional connectivity direction between two adjacent sub-regions, with each sub-region as a node and the regional connectivity direction between two adjacent sub-regions as a directed edge.

[0158] Optionally, based on the regional directed graph corresponding to the transport task and the transport direction of the transport task, determination unit 601 is specifically used to: determine at least one candidate path from the starting area of ​​the transport task to the destination area of ​​the transport task in the regional directed graph; and determine the candidate path with the least number of sub-areas among multiple candidate paths as the transport path.

[0159] Optionally, the sending unit 602 is specifically used to: determine whether the target transport equipment meets a first preset requirement; the first preset requirement includes at least one of the following: the network uplink bandwidth is greater than the uplink bandwidth threshold, the downlink bandwidth is greater than the downlink bandwidth threshold, and the network delay is greater than the delay threshold; if the first preset requirement is met, send the transport task to the target transport equipment.

[0160] Optionally, when there are multiple transport tasks, the sending unit 602 is specifically used to: send the transport tasks to the target transport equipment in sequence according to the priority of each transport task; the priority is negatively correlated with the remaining execution time of the transport task.

[0161] The embodiment of the present application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by a computer program to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of the task issuing device (including the data sending end and / or the data receiving end) of any of the above embodiments, such as a hard disk or memory of the task issuing device. The above computer-readable storage medium can also be an external storage device of the above terminal device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above terminal device. Further, the above computer-readable storage medium can also include both the internal storage unit of the above task issuing device and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above task issuing device. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0162] It should be noted that the terms "first" and "second" in the specification, claims and drawings of the present application are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0163] It should be understood that in the present application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0164] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0165] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0166] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0167] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0168] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0169] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A task issuing method, characterized in that: The method comprises: Determine a target transporting device for performing a transporting task from a plurality of transporting devices; the target transporting device is a transporting device among the plurality of transporting devices whose matching cost with the transporting task is less than or equal to a matching cost threshold; the matching cost is determined based on a first distance and a second distance; the first distance is a moving distance of the transporting device within a remaining execution time, and the second distance is a distance between the transporting device and a starting area of ​​the transporting task; the remaining execution time is a time distance from a current moment to a starting moment of executing the transporting task; The transport task is sent to the target transport equipment.

2. The method according to claim 1, characterized in that The transport task includes a transport path; before determining a target transport device for performing the transport task from a plurality of transport devices, the method further includes: Constructing a regional directed graph; the regional directed graph is constructed according to the transport direction between two adjacent sub-regions in the plurality of sub-regions of the transport task region; The transport path is determined according to the regional directed graph and the transport direction of the transport task.

3. The method according to claim 2, characterized in that The constructing of the regional directed graph corresponding to the transport task includes: Determining a regional connection direction between two adjacent sub-regions according to a transport direction between the sub-region and an adjacent sub-region; According to the regional connectivity direction between the two adjacent sub-regions, the regional directed graph is constructed with each of the sub-regions as a node and the regional connectivity direction between the two adjacent sub-regions as a directed edge.

4. The method according to claim 2, characterized in that: The determining the transport path according to the regional directed graph corresponding to the transport task and the transport direction of the transport task includes: Determining at least one candidate path from a starting area of ​​the transport task to a destination area of ​​the transport task in the regional directed graph; A candidate path with the least number of sub-areas among the plurality of candidate paths is determined as the transport path.

5. The method according to claim 1, characterized in that The sending the transport task to the target transport equipment comprises: Determine whether the target transport device meets a first preset requirement; the first preset requirement includes at least one of the following: the network uplink bandwidth is greater than the uplink bandwidth threshold, the downlink bandwidth is greater than the downlink bandwidth threshold, and the network delay is greater than the delay threshold; When the first preset requirement is met, the transport task is sent to the target transport equipment.

6. The method according to any one of claims 1 to 5, characterized in that In the case that there are multiple transport tasks, sending the transport tasks to the target transport equipment includes: According to the priority of each of the transport tasks, the transport tasks are sent to the target transport equipment in sequence; the priority is negatively correlated with the remaining execution time of the transport task.

7. A task issuing device, characterized in that: The device comprises: a determining unit and a sending unit; The determination unit is used to determine a target transport device for performing a transport task from a plurality of transport devices; the target transport device is a transport device among the plurality of transport devices whose matching cost with the transport task is less than or equal to a matching cost threshold; the matching cost is determined based on a first distance and a second distance; the first distance is a moving distance of the transport device within a remaining execution time, and the second distance is a distance between the transport device and a starting area of ​​the transport task; the remaining execution time is a time distance from a current moment to a starting moment of executing the transport task; The sending unit is used to send the transport task to the target transport equipment.

8. A computer-readable storage medium, characterized in that: The readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 6 is implemented.

9. An electronic device, characterized in that: include: A processor, a memory and a communication interface; wherein the communication interface is used for the electronic device to communicate with other devices or networks; The memory is used to store one or more programs, which include computer-executable instructions. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory to enable the electronic device to perform the method described in any one of claims 1-6.

10. A computer program product, comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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