Task issuing method and device and storage medium

Abstract

The invention discloses a task issuing method and device and a storage medium, relates to the technical field of communication, and is used for improving the carrying efficiency. The method comprises the following steps: acquiring at least one carrying task and information of each piece of carrying equipment in at least one piece of carrying equipment; the information of the carrying equipment comprises at least one of the following items: position, working state and carrying capacity; based on the at least one carrying task and the information of each carrying device in the at least one carrying device, determining a target carrying device for executing a target carrying task in the at least one carrying task; and sending the target carrying task to the target carrying equipment. The method and device are applied to the task issuing process.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a task issuing method, device and storage medium. Background Art

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

[0003] In the related art, the task management center issues tasks to preset handling equipment based on the information of preset handling equipment corresponding to historical tasks. However, handling equipment needs to be charged and maintained regularly and cannot work continuously for a long time. In addition, the charging and maintenance time of each handling equipment is different. This may result in different numbers and models of handling equipment that can work normally in different time periods. In this way, issuing the current task based on historical tasks may not match the appropriate handling equipment for the current task, reducing the handling efficiency. Therefore, how to improve the handling efficiency is a technical problem that still needs to be solved. Summary of the invention

[0004] The present application provides a task issuing method, device and storage medium for improving handling efficiency.

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

[0006] In the first aspect, an embodiment of the present application provides a task issuing method, wherein a main transporting device obtains information about at least one transporting task and each transporting device in at least one transporting device; the information about the transporting device includes at least one of the following: location, working status, and transporting capacity; based on the information about at least one transporting task and each transporting device in at least one transporting device, a target transporting device that executes a target transporting task in at least one transporting task is determined; and the target transporting task is sent to the target transporting device.

[0007] In one possible implementation, the transport task includes an initial position of an item to be transported and specifications of the item to be transported; at least one first transport device is determined based on the specifications of the item to be transported in the target transport task and the transport capacity of each transport device in at least one transport device; the first transport device can meet the specification requirements of the item to be transported and the first transport device is in an operable state; a second transport device is determined based on the position of at least one first transport device and the initial position of the item to be transported; the second transport device is the transport device in at least one first transport device that is closest to the initial position of the item to be transported.

[0008] In a possible implementation manner, the priority of each transport task in at least one transport task is obtained; and the transport task with the highest priority in the at least one transport task is executed.

[0009] In a possible implementation, the operating status information of the target transport device is obtained; the operating status information includes real-time location information and surrounding environment information; the operating status information of the target transport device is sent to a third transport device; the third transport device is a device that collaborates to run at least one transport task.

[0010] In one possible implementation, when a target transport device fails, the maintenance time required to repair the target transport device is determined based on the failure information; when the maintenance time is longer than a preset time and the target transport device does not carry items to be transported, the target transport task is sent to a fourth transport device; the fourth transport device is the transport device among the third transport devices that is closest to the initial position of the items to be transported in the target transport task; when the maintenance time is longer than a preset time and the target transport device carries items to be transported, the target transport task is sent to a fifth transport device; the fifth transport device is the transport device among the third transport devices that is closest to the target transport device.

[0011] In the second aspect, the present application provides a task issuing device, comprising: a communication unit and a processing unit; the processing unit is used to obtain information about at least one handling task and each handling equipment in at least one handling equipment; the information of the handling equipment includes at least one of the following: position, working status and handling capacity; the processing unit is also used to determine a target handling equipment that executes a target handling task in at least one handling task based on the information about at least one handling task and each handling equipment in at least one handling equipment; the communication unit is used to send the target handling task to the target handling equipment.

[0012] In one possible implementation, a processing unit is used to determine at least one first transport device according to the specifications of the items to be transported in a target transport task and the transport capacity of each transport device in at least one transport device; the transport task includes the initial position of the items to be transported and the specifications of the items to be transported; the first transport device can meet the specification requirements of the items to be transported, and the first transport device is in an operable state; the processing unit is used to determine the second transport device according to the position of the at least one first transport device and the initial position of the items to be transported; the second transport device is the transport device in the at least one first transport device that is closest to the initial position of the items to be transported.

[0013] In a possible implementation, the processing unit is used to obtain the priority of each transport task in at least one transport task; and the processing unit is used to execute the transport task with the highest priority in the at least one transport task.

[0014] In a possible implementation, the processing unit is used to obtain the operating status information of the target handling equipment; the operating status information includes real-time location information and surrounding environment information; the communication unit is used to send the operating status information of the target handling equipment to the third handling equipment; the third handling equipment is a device that collaborates to run at least one handling task.

[0015] In one possible implementation, the processing unit is used to determine, when a target transport device fails, a maintenance time required to repair the target transport device based on the fault information; the processing unit is used to instruct the communication unit to send the target transport task to a fourth transport device when the maintenance time is longer than a preset time and the target transport device does not carry any items to be transported; the fourth transport device is the transport device among the third transport devices that is closest to an initial position of the items to be transported in the target transport task; and when the maintenance time is longer than a preset time and the target transport device carries any items to be transported, instruct the communication unit to send the target transport task to a fifth transport device; the fifth transport device is the transport device among the third transport devices that is closest to the target transport device.

[0016] In the third aspect, the present application provides a task issuing device, which includes: a processor and a memory; wherein the memory is used to store computer execution instructions, and when the task issuing device is running, the processor executes the computer execution instructions stored in the memory to enable the task issuing device to perform the task issuing method described in the first aspect and any possible implementation method of the first aspect.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions in the computer-readable storage medium are executed by a processor of a task issuing device, the task issuing device can execute the task issuing method described in the first aspect and any possible implementation method of the first aspect.

[0018] In the fifth aspect, an embodiment of the present application provides a chip, the chip including a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a computer program or instructions to implement the task issuing method described in the above-mentioned first aspect and any possible implementation method of the first aspect.

[0019] In a sixth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the task issuing method described in the above-mentioned first aspect and any possible implementation manner of the first aspect.

[0020] These and other aspects of the present application will become more apparent from the following description.

[0021] The above scheme brings at least the following beneficial effects: In the embodiment of the present application, information of each handling device in at least one handling task and at least one handling device is obtained. Since the information of the handling equipment includes at least one of the following: location, working status and handling capacity. Therefore, based on the working status of the handling equipment, a set of handling equipment that can work normally can be determined. In this way, based on the information of the target handling task and the handling equipment, the target handling equipment that matches the target handling task can be determined, and the target handling task can be sent to the target handling equipment. In this way, multiple target handling equipment that matches the target handling task can work together to complete at least one handling task, thereby improving the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram of the structure of a task issuing system provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the structure of a task issuing device provided in an embodiment of the present application;

[0025] Figure 3 A flowchart of a task issuing method provided in an embodiment of the present application;

[0026] Figure 4 A flowchart of a task issuing method provided in an embodiment of the present application;

[0027] Figure 5 A flowchart of a task issuing method provided in an embodiment of the present application;

[0028] Figure 6 A flowchart of a task issuing method provided in an embodiment of the present application;

[0029] Figure 7 A flowchart of a task issuing method provided in an embodiment of the present application;

[0030] Figure 8 A flowchart of a task issuing method provided in an embodiment of the present application;

[0031] Fig. 9 A schematic diagram of a task issuing method provided in an embodiment of the present application;

[0032] Fig.10A structural diagram of a task delivery system provided in an embodiment of the present application;

[0033] Fig.11 A schematic diagram of the structure of a task issuing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] The term "and / or" in this article is merely a description of 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.

[0035] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0036] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application 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 other 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.

[0037] It should be noted that, in the embodiments of the present 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 the embodiments of the present 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.

[0038] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0039] 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.

[0040] In industrial production, since handling equipment can not only reduce labor costs but also improve handling efficiency, the application scope of industrial production through handling equipment has gradually expanded.

[0041] New technologies such as the Internet, Internet of Things, artificial intelligence, big data, and cloud computing are gradually being applied to various warehousing and logistics links such as warehousing, transportation, and logistics distribution, making warehousing and logistics scenarios digital, connecting elements within the supply chain, and making supply chain decisions more intelligent. Different application scenarios, such as receiving goods for warehousing, warehousing, sorting, packaging, transshipment, and online distribution, require robots of different forms. The combination of robots and the fifth-generation mobile communication technology (5G) private network improves the efficiency of warehousing and logistics operations, reduces labor costs, and improves the safety of on-site production operations.

[0042] In the related art, the task management center issues tasks to preset handling equipment based on the information of preset handling equipment corresponding to historical tasks. However, handling equipment needs to be charged and maintained regularly and cannot work continuously for a long time. In addition, the charging and maintenance time of each handling equipment is different. This may result in different numbers and models of handling equipment that can work normally in different time periods. In this way, issuing the current task based on historical tasks may not match the appropriate handling equipment for the current task, reducing the handling efficiency. Therefore, how to improve the handling efficiency is a technical problem that still needs to be solved.

[0043] In order to solve the technical problems existing in the related art, in an embodiment of the present application, information of each handling device in at least one handling task and at least one handling device is obtained. Since the information of the handling equipment includes at least one of the following: location, working status, and handling capacity. Therefore, based on the working status of the handling equipment, a set of handling equipment that can work normally can be determined. In this way, based on the information of the target handling task and the handling equipment, the target handling equipment that matches the target handling task can be determined, and the target handling task can be sent to the target handling equipment. In this way, multiple target handling equipment that match the target handling task can work together to complete at least one handling task, thereby improving the handling efficiency.

[0044] Below, combined with the attached Figure 1 A task issuing system 10 provided in an embodiment of the present application is described in detail. Figure 1 As shown, the task issuing system 10 includes: a main transport device 11 , a target transport device 12 , and a task management center 13 .

[0045] Among them, the main transport equipment 11 is configured to: obtain information of at least one transport task and each transport equipment in at least one transport equipment; the transport task includes the initial position of the items to be transported and the specifications of the items to be transported; the information of the transport equipment includes at least one of the following: position, working status and transport capacity; based on the information of at least one transport task and each transport equipment in at least one transport equipment, determine the target transport equipment 12 that performs the target transport task in at least one transport task; and send the target transport task to the target transport equipment 12.

[0046] Among them, the main 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 main 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 main handling equipment 11.

[0047] The target transport device 12 is configured to receive the target transport task from the main transport device 11 .

[0048] The task management center 13 is configured to send at least one transport task to the main transport device 11 .

[0049] It should be noted that the task management center 13 is a device with wireless communication function, which can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted. It can also be deployed on the water surface (such as ships, etc.). It can also be deployed in the air (for example, on airplanes, balloons and satellites, etc.). The user terminal is also called a mobile station (MS), a terminal (MT) and a terminal, etc., which is a device that provides voice and / or data connectivity to users. For example, the terminal includes a handheld device with wireless connection function, a vehicle-mounted device, etc. At present, the terminal can be: a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device (such as a smart watch, a smart bracelet, a pedometer, etc.), a vehicle-mounted device (such as a car, a bicycle, an electric car, an airplane, a ship, a train, a high-speed rail, etc.), a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a smart home device (such as a refrigerator, a TV, an air conditioner, an electric meter, etc.), an intelligent robot, a workshop device, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, or a wireless terminal in a smart home, a flying device (such as an intelligent robot, a hot air balloon, a drone, an airplane), etc. In a possible application scenario of the present application, the task management center 13 is a terminal device that often works on the ground, such as a vehicle-mounted device. In this application, for the sake of convenience, chips deployed in the above-mentioned devices, such as system-on-a-chip (SOC), baseband chips, etc., or other chips with communication functions may also be referred to as user terminals.

[0050] Optionally, the task management center 13 may be an embedded communication device or a user's handheld communication device, including a mobile phone, a tablet computer, etc.

[0051] As an example, in an embodiment of the present application, the task management center 13 can also be a wearable device. Wearable devices can also be called wearable smart devices, which are a general term for wearable devices that use wearable technology to intelligently design and develop wearable devices for daily wear, such as glasses, gloves, watches, clothing and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also powerful functions achieved through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include full-featured, large-sized, and independent of smartphones to achieve complete or partial functions, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various types of smart bracelets and smart jewelry for vital sign monitoring.

[0052] The embodiment of the present application provides a task issuing device, which is used to execute the task issuing system provided by the embodiment of the present application. Figure 2 This is a schematic diagram of the structure of a task issuing device provided in an embodiment of the present application. Figure 2 As shown, the task issuing device 200 includes at least one processor 201, a communication line 202, and at least one communication interface 204, and may also include a memory 203. The processor 201, the memory 203 and the communication interface 204 may be connected via the communication line 202.

[0053] The processor 201 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as one or more digital signal processors (DSP), or one or more field programmable gate arrays (FPGA).

[0054] The communication link 202 may include a pathway for transmitting information between the above-mentioned components.

[0055] The communication interface 204 is used to communicate with other devices or communication networks, and can use any transceiver-like device, such as Ethernet, radio access network (RAN), WLAN, etc.

[0056] The memory 203 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to include or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0057] In one possible design, the memory 203 can exist independently of the processor 201, that is, the memory 203 can be a memory outside the processor 201. In this case, the memory 203 can be connected to the processor 201 through the communication line 202, and is used to store execution instructions or application code, and the execution is controlled by the processor 201 to implement the task delivery method provided in the following embodiment of the present application. In another possible design, the memory 203 can also be integrated with the processor 201, that is, the memory 203 can be the internal memory of the processor 201, for example, the memory 203 is a high-speed cache, which can be used to temporarily store some data and instruction information.

[0058] As an implementation method, the processor 201 may include one or more CPUs, for example Figure 2 As another possible implementation, the task issuing device 200 may include multiple processors, such as Figure 2 As another possible implementation, the task issuing device 200 may further include an output device 205 and an input device 206.

[0059] Below, combined with the attached Figure 3 The task issuing method provided in the embodiment of the present application is described in detail. Figure 3 As shown, the task issuing method includes S301-S303.

[0060] S301: Obtain information of at least one transport task and each transport device in at least one transport device.

[0061] The information of the handling equipment includes at least one of the following: location, working status and handling capacity.

[0062] In a possible implementation manner, the task management center obtains information about at least one transport task and each transport device in at least one transport device.

[0063] In another possible implementation manner, the main transport device obtains at least one transport task and information of each transport device in at least one transport device.

[0064] Optionally, the main transport equipment obtains information of at least one transport task and transport equipment from the task management center.

[0065] Optionally, the main handling equipment is a high performance handling equipment.

[0066] For example, the main transport equipment can transport a large number of items, can carry a large amount of items, has a fast operating speed and a large horsepower.

[0067] It should be explained that after receiving the task request information from the terminal device, the task management center determines the priority of each task in at least one handling task in the task request; determines the main handling equipment based on the type of the task with the highest priority; and sends at least one handling task to the main handling equipment.

[0068] It is understandable that the task management center will record the information of each handling equipment in real time.

[0069] In one possible implementation, the main transport equipment obtains information about at least one transport task and transport equipment from the task management center through a 5G private network channel.

[0070] It should be explained that 5G network has the technical characteristics of low latency, high reliability and large bandwidth, which are highly matched with the business needs of factory warehousing and logistics. At the same time, the deep integration of multi-access edge computing (MEC) and factory business can improve user experience and save bandwidth resources. The computing power is sunk to the mobile edge node to provide low-latency private network guarantee services, local data diversion services, on-site high-bandwidth monitoring and analysis, and low-latency control services. MEC edge cloud introduces artificial intelligence technology to meet the different comprehensive positioning requirements of warehousing and logistics for people, objects, and equipment; meet the requirements of warehousing and logistics for on-site operation perception and remote equipment operation and maintenance; meet the priority requirements of warehousing and logistics for AGV coordination and scheduling, loading and unloading, and warehouse transfer; meet the different requirements of warehousing and logistics for on-site operation AI video streaming services, control services, and collection services.

[0071] It should be explained that the low latency and high reliability technical characteristics of the 5G network are used to transmit the data and control instructions of the handling equipment. The handling equipment data and control instructions are connected to the constructed 5G base station through the 5G gateway, and are locally diverted to the MEC / MEP through the user plane function (UPF) to meet the low latency requirements of end-to-end applications. Combined with the quality of service (QoS) capability of the 5G private network operation platform, the network element / gateway docking and the edge computing power capabilities, the coordination and scheduling of the handling equipment are met.

[0072] S302: Determine a target transporting device that executes a target transporting task in the at least one transporting task based on the at least one transporting task and the information of each transporting device in the at least one transporting device.

[0073] In a possible implementation, the main transport device determines the priority of each transport task in at least one transport task, generates a task sequence table based on the order of priority from large to small, and selects suitable transport devices for the transport tasks in the task sequence table in order of priority from large to small.

[0074] Optionally, the task sequence table includes at least one transport task and a priority level corresponding to at least one transport task.

[0075] S303: Send the target transport task to the target transport equipment.

[0076] In one possible implementation, the main transport device obtains the IP address of the target transport device, and sends the target transport task to the target transport device through the 5G network based on the IP address of the target transport device.

[0077] It needs to be explained that after the target transport task receives the target transport task, the target transport task is executed.

[0078] It is understood that when the target handling device is performing other tasks, the target handling task will be added to the list of tasks to be performed, and the tasks will be sorted based on the priority of the tasks in the list of tasks to be performed. When the target handling device completes the current task, the task with the highest priority in the list of tasks to be performed will be performed.

[0079] It should be explained that the main transport device directly sends the target transport task to the target transport device, which can improve the efficiency of task issuance.

[0080] The above scheme brings at least the following beneficial effects: In the embodiment of the present application, information of each handling device in at least one handling task and at least one handling device is obtained. Since the information of the handling equipment includes at least one of the following: location, working status and handling capacity. Therefore, based on the working status of the handling equipment, a set of handling equipment that can work normally can be determined. In this way, based on the information of the target handling task and the handling equipment, the target handling equipment that matches the target handling task can be determined, and the target handling task can be sent to the target handling equipment. In this way, multiple target handling equipment that matches the target handling task can work together to complete at least one handling task, thereby improving the handling efficiency.

[0081] In one possible implementation, combining Figure 3 ,like Figure 4 As shown, in S302, based on at least one transport task and information of each transport device in at least one transport device, the process of determining a target transport device that performs a target transport task in at least one transport task can be specifically implemented through the following S401-S402.

[0082] S401: Determine at least one first transporting device according to the specifications of the objects to be transported in the target transport task and the transport capacity of each transporting device in at least one transporting device.

[0083] The transport task includes the initial position of the object to be transported and the specifications of the object to be transported; the first transport equipment can meet the specification requirements of the object to be transported, and the first transport equipment is in an operable state.

[0084] Optionally, the specifications of the objects to be transported include the mass and volume of the objects to be transported.

[0085] It should be explained that the first transport device being in an operable state means that the first transport device is not undergoing maintenance or charging.

[0086] S402: Determine a second transport device according to a position of at least one first transport device and an initial position of the object to be transported.

[0087] The second transport device is a transport device that is closest to an initial position of the object to be transported among the at least one first transport device.

[0088] In a possible implementation, the main transport device determines the shortest accessible path between each of the at least one first transport device and an initial position of the object to be transported, and determines the transport device with the shortest accessible path as the second transport device.

[0089] In another possible implementation, the main transport device determines the displacement of each of the at least one first transport device from an initial position of the object to be transported, and determines the transport device with the smallest displacement as the second transport device.

[0090] The above scheme brings at least the following beneficial effects: In the embodiment of the present application, the main transport device searches for at least one first transport device that can transport the items to be transported based on the specification requirements of the items to be transported. Then, a second transport device that is closest to the initial position of the items to be transported is selected from the at least one first transport device. Since the second transport device is the transport device that is closest to the initial position of the items to be transported among the at least one first transport device, when the second transport device transports the items to be transported, it can consume less resources to complete the transport work, and at the same time, it can also reduce the transport time and improve the efficiency of the item transport.

[0091] In one possible implementation, combining Figure 3 ,like Figure 5 As shown, S302, based on at least one transport task and information of each transport device in at least one transport device, determining a target transport device that performs a target transport task in at least one transport task can be specifically implemented through the following S501-S502.

[0092] S501. Send first request information to an edge computing node.

[0093] The first request information includes at least one transport task and information of each transport device in at least one transport device.

[0094] It needs to be explained that multiple edge computing nodes are deployed in the transportation environment where the main handling equipment is located.

[0095] In one possible implementation, the main transport device sends a first request message to the edge computing node through the 5G network.

[0096] Optionally, the first request information is used to request the main transport equipment to determine the transport equipment corresponding to the target transport task in at least one transport task.

[0097] S502: Receive first response information from the edge computing node.

[0098] The first response information includes the target transport equipment.

[0099] It should be explained that, since the edge node includes computing resources, the edge node can quickly determine the target transport device for executing the target transport task in at least one transport task based on the information of at least one transport task and each transport device in at least one transport device.

[0100] It should be explained that the edge computing node determines the shortest reachable path between each of the at least one first handling device and the initial position of the item to be handled, and determines the handling device with the shortest reachable path as the second handling device. The edge computing node determines the displacement between each of the at least one first handling device and the initial position of the item to be handled, and determines the handling device with the smallest displacement as the second handling device.

[0101] The above scheme brings at least the following beneficial effects: In the embodiment of the present application, the main transport device sends a first request message to the edge computing node. In this way, the main transport device does not need to occupy its own computing resources and directly instructs the edge computing node to determine the target transport device. Since the edge node includes computing resources, the edge node can quickly determine the target transport device that performs the target transport task in at least one transport task based on at least one transport task and the information of each transport device in at least one transport device. The efficiency of the main transport device in determining the target transport device is improved, so that the resources of the main transport device can be used for other tasks, thereby improving the performance of the main transport device.

[0102] In one possible implementation, combining Figure 3 ,like Figure 6 As shown, after sending the target transport task to the target transport device in S303, the main transport device will also perform the transport task. The process of the main transport device performing the transport task can be specifically implemented through the following S601-S602.

[0103] S601: Obtain the priority of each transport task in at least one transport task.

[0104] In a possible implementation, the main transport device sends a second request message to the task management center, receives a second request response message sent by the task management center, and determines the priority of each transport task in at least one transport task based on the second request response message.

[0105] Optionally, the second request information includes at least one transport task, and the second request response information includes the priority of each transport task in the at least one transport task. The second request information is used to request the priority of each transport task in the at least one transport task.

[0106] In another possible implementation manner, each transport task in the at least one transport task includes a priority of the transport task, and the main transport device obtains the priority of each transport task from each transport task.

[0107] S602: Execute the transport task with the highest priority among at least one transport task.

[0108] In a possible implementation manner, the main transport device determines a first transport task to be performed by the main transport device, and performs the first transport task.

[0109] Optionally, the first transport task is a transport task with the highest priority among the at least one transport task.

[0110] It should be explained that the highest priority transport task may be the one that has the most important item to be transported, the one that has the largest volume to be transported, the one that has the largest mass to be transported, or the one that needs to be transported as quickly as possible. We do not make any specific restrictions on this.

[0111] Optionally, the first transport task further includes a target location of the object to be transported, and the target location of the object to be transported is a location to which the object to be transported needs to be transported.

[0112] In a possible implementation, the main transport device determines the initial position of the first object to be transported and the target position of the object to be transported in the first transport task; based on the electronic map, the initial position of the first object to be transported and the position of the main transport device, the shortest first path between the main transport device and the initial position of the first object to be transported is determined; based on the electronic map, the initial position of the first object to be transported and the target position of the first object to be transported, the shortest second path between the target position of the first object to be transported and the initial position of the first object to be transported is determined. The main transport device obtains the first object to be transported based on the first path; and based on the second path, the main transport device transports the first object to be transported to the target position of the first object to be transported.

[0113] The above scheme brings at least the following beneficial effects: In the embodiment of the present application, since the performance of the main transport device is strong, the main transport device can execute the first transport task with the highest priority, thereby improving the execution efficiency of the transport task.

[0114] In one possible implementation, combining Figure 3 ,like Figure 7 As shown, after sending the target transport task to the target transport device in S303, the operation status information of the target transport device is shared. The process of sharing the operation status information of the target transport device can be specifically implemented through the following S701-S702.

[0115] S701. Obtain operating status information of a target transport device.

[0116] The operating status information includes real-time location information and surrounding environment information.

[0117] In a possible implementation, the main transport device sends a third indication message to the target transport device, and the target transport device sends a third indication response message to the main transport device. The third indication message is used to request the operation status information of the target transport device, and the third indication response message includes the operation status information of the target transport device.

[0118] It needs to be explained that the target transport equipment obtains the surrounding environment information based on its own sensors and obtains its own real-time position information based on positioning technology.

[0119] Exemplarily, the sensor may be at least one of a distance sensor, an image sensor, and a temperature sensor, which is not further limited.

[0120] Optionally, the positioning technology includes at least one of the following: 5G module positioning technology, ultra-wideband (UWB) positioning technology, Bluetooth positioning technology, Beidou positioning technology, and radio frequency identification (RFID) positioning technology.

[0121] It should be explained that indoors, the main handling equipment uses the quaternion method to analyze the position information data of the handling equipment and obtain the vehicle coordinates. At the interface between indoors and outdoors, the main handling equipment uses the fusion Savitzky-Golay filter and the particle filter to process the data of different sensors for positioning information fusion, combined with the warehouse panoramic map and cargo floor information, to improve the positioning accuracy of the cargo at the interface between indoors and outdoors, realize the seamless positioning switching of the cargo indoors and outdoors, and improve the efficiency of cargo transportation.

[0122] S702: Send the operating status information of the target transport device to the third transport device.

[0123] Among them, the third handling equipment is a device that cooperates to run at least one handling task.

[0124] In one possible implementation, the main transport device shares the operating status information of the target transport device with the third transport device through the 5G network.

[0125] It should be explained that the main transport device sends the operating status information of the target transport device to the third transport device, and the third transport device can adjust its own operating path and speed based on the operating status information of the target transport device.

[0126] The above scheme brings at least the following beneficial effects: in the embodiment of the present application, after the main transport equipment obtains the operating status information of the target transport equipment, the operating status information of the target transport equipment can be shared with the third transport equipment that cooperates in running at least one transport task, so that the third transport equipment can adjust its own operation and improve the transportation efficiency of the items to be transported.

[0127] In one possible implementation, combining Figure 7 ,like Figure 8 As shown, after the operation status information of the target transport device is sent to the third transport device in S702, the fault is processed. The process of the main transport device processing the fault can be specifically implemented through the following S801-S803.

[0128] S801. When a target transport device fails, determine the maintenance time required to repair the target transport device based on the failure information.

[0129] The operating status information also includes fault information.

[0130] In a possible implementation, the main transport device sends fourth instruction information to the target transport device and receives device operation information sent by the target transport device. The main transport device determines whether the target transport device fails based on the device operation information. When the target transport device fails, the main transport device determines the fault information based on the device operation information and the fault database. The main transport device determines the maintenance time required to repair the target transport device based on the fault information.

[0131] Optionally, the fourth indication information is used to instruct the target handling equipment to report equipment operation information in real time, and the fault database includes at least one fault information and at least one piece of equipment operation information corresponding to the fault information.

[0132] Understandably, if Fig. 9 As shown, after receiving the transport task, the distributed formation holder in the main transport device requests the behavior domain and model domain in the knowledge domain to generate a behavior plan. The behavior plan includes at least one transport task and the transport device corresponding to each transport task in at least one transport task. After receiving the emergency event sent by the target transport device, the replanner in the main transport device requests the behavior domain and model domain in the knowledge domain to generate a new behavior plan. The new behavior plan is used to adjust the transport device that processes the target task.

[0133] S802: When the maintenance time is longer than the preset time and the target transport device does not carry any items to be transported, send a target transport task to a fourth transport device.

[0134] The fourth transport device is a transport device among the third transport devices that is closest to an initial position of the object to be transported in the target transport task.

[0135] It needs to be explained that the preset duration can be determined according to the priority of the transport task.

[0136] Exemplarily, the higher the priority of the transport task, the shorter the preset duration; conversely, the lower the priority of the transport task, the longer the preset duration.

[0137] It should be explained that the target transport device does not carry the items to be transported, which means that the target transport device has not yet reached the initial position of the items to be transported and carried the items to be transported. At this time, the target transport device fails, and the main transport device can instruct the fourth transport device to go to the initial position of the items to be transported and carry the items to be transported.

[0138] S803: When the maintenance time is longer than the preset time and the target transport device carries items to be transported, send the target transport task to the fifth transport device.

[0139] The fifth transporting equipment is the transporting equipment closest to the target transporting equipment among the third transporting equipment.

[0140] It should be explained that the target transport device carrying the items to be transported means that the target transport device has reached the initial position of the items to be transported and carries the items to be transported. At this time, if the target transport device fails, the main transport device can instruct the fifth transport device to go to the position of the target transport device and obtain the items to be transported from the target transport device, thereby completing the target transport task.

[0141] In a possible implementation, the main transport device further sends first instruction information to the target transport device, wherein the first instruction information is used to instruct the target transport device to terminate the execution of the target transport task.

[0142] It should be explained that after receiving the first instruction information, the target transporting device will terminate the target transporting task and wait for the target transporting device to be repaired. When the target transporting device is repaired, it will find the nearest target transporting device stop point for repair.

[0143] The above scheme brings at least the following beneficial effects: In the embodiment of the present application, when the target transport device fails, the main transport device determines the maintenance time required to repair the target transport device. When the maintenance time is longer than the preset time, the main transport device looks for other transport devices to continue to complete the target transport task; when the maintenance time is longer than the preset time, the main transport device instructs the target transport device to complete the maintenance work and then continue to perform the target transport task. In this way, the target transport task can be completed on schedule, which improves the efficiency of article transport.

[0144] It can be seen that the technical solution provided by the embodiment of the present application is introduced above mainly from the perspective of the method. In order to realize the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should be easily aware that, in combination with the modules and algorithm steps of each example described in the embodiment disclosed herein, the embodiment of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0145] An embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes each step in the method flow shown in the above method embodiment.

[0146] like Fig.10 , which is a structural diagram of a task issuing system provided in an embodiment of the present application.

[0147] The task issuing system includes a system monitoring module 1001, a system management module 1002, a scheduling logic control module 1003, an order management module 1004, a material pulling module 1005, a map management module 1006, an equipment management module 1007 and a communication positioning management module 1008.

[0148] The system monitoring module 1001 is configured to: monitor the operation flow and the entire process of the AGV vehicle in real time, and store and record the real-time scheduling information, equipment status information, operation logs, etc.

[0149] When the system monitoring module 1001 receives the trial scheduling information, device information and log information, it outputs the log information and stores the data.

[0150] The system management module 1002 is configured to perform multi-user management, database management, and operation log management.

[0151] The scheduling logic control module 1003 is also configured to: after the instruction is parsed, the instructions that can be executed by a single AGV device enter the instruction queue of the device respectively, and set the priority of these instructions into three levels, namely, being executed, waiting for execution, and not executed.

[0152] Among them, "being executed" indicates the instruction being executed, "waiting for execution" indicates the instruction can be executed immediately after the device is idle, and "not executed" indicates the conditions for execution are not yet met.

[0153] When the scheduling logic control module 1003 receives order tasks, handling site action instructions, AGV equipment status, and work area information, it combines the collaborative control and scheduling strategies of multiple logistics equipment to output task scheduling data, chain control instructions, map gate restrictions, scheduling area restrictions, and record scheduling logs.

[0154] The scheduling logic control module 1003 can realize the coordinated control and scheduling strategy algorithm of multiple logistics equipment, and perform coordinated scheduling of multiple logistics equipment. It is the core part of realizing automation and intelligence.

[0155] The scheduling logic control module 1003 is configured to: decompose each transportation task into a job queue for sequential execution; parse the job queue into the command queue of the automated storage equipment, and command and coordinate the operation of the equipment according to the operation status of the equipment. It schedules the master-slave AGV operation, and connects the master-slave AGV, production line docking, loading robot interlocking control signals, and detection equipment information.

[0156] The order management module 1004 is configured to receive the production schedule of the manufacturing enterprise's production process execution system (Manufacturing Execution System, MES) advanced production planning and scheduling system (Advanced Planning and Scheduling, APS), form transportation tasks, and decompose the transportation tasks to form order plans and handling tasks.

[0157] The order plan includes: transport tasks and transport orders. The transport task includes at least one of the following: task issuance time, task execution start time, task execution end time, execution AGV, task type, and task status. The transport order includes at least one of the following: order issuance time, order execution start time, order execution end time, and order status. Among them, the handling task includes: the initial position of the items to be transported and the specifications of the items to be transported.

[0158] When the order management module 1004 receives the material requirements and delivery information, it outputs the order task.

[0159] The material pulling module 1005 is configured to: collect material demand information of workstations and production lines in real time, read and process PLC data of each production line, generate material demand orders and material delivery orders, and perform statistics and visual display on the information of material demand orders and material delivery orders.

[0160] The material master data includes at least one of the following: material name, minimum quantity, single replenishment quantity, and single replenishment box quantity. The material demand list includes the priority. The material delivery list includes the delivery start time and delivery end time.

[0161] When the material pull module 1005 receives the material demand and the delivery order, it solves the material demand and the delivery order and outputs the actual material demand and delivery information.

[0162] The map management module 1006 is configured to perform map management, factory layer management, location management, factory identification management, and AGV operation area management. The terminal can perform AGV transport path pre-planning and visualize the planned path in real-time dynamic display. The map management module 1006 obtains AGV planned path information and real-time location coordinate information.

[0163] When the map management module 1006 receives the task scheduling instruction from the scheduling logic control module 1003, it calculates and outputs information such as the operation area, map, path, and site action according to the instruction.

[0164] The equipment management module 1007 includes: an AGV management module 10071 and a linkage equipment management module 10072. The equipment management module 1007 is configured to monitor and report the AGV owner information, equipment failure information, operation status information, etc. in real time, and receive the dispatching instructions from the dispatching control module.

[0165] The AGV management module 10071 is configured to monitor the operating status of the AGV and dynamically display the operating status of each device in a graphical manner; and display the fault information of the AGV device in real time.

[0166] The linkage device management module 10072 is configured to monitor network conditions and communication conditions and record communication logs.

[0167] When the equipment management module 1007 receives the positioning and communication information from the communication and positioning management module, it performs AGV and linkage equipment management and outputs task scheduling and interlocking control instructions to the scheduling logic control module.

[0168] The communication and positioning management module 1008 is configured to realize AGV vehicle networking communication. The path planning in the spatial collaborative scheduling of multiple logistics scheduling vehicles (forklifts, AGVs, etc.) needs to be combined with 5G positioning technology.

[0169] When the communication and positioning management module 1008 receives the MES system (logistics demand order) and AGV information (path planning information, operation status information, linkage equipment status information), the communication and positioning management module 1008 outputs: path planning information, linkage equipment status information, logistics demand order information, and location information.

[0170] like Fig.11 FIG. 1 is a schematic diagram of a task issuing device provided in an embodiment of the present application. The task issuing device can be used to execute Figure 3 , Figure 4 , Figure 5, Figure 6 , Figure 7 , Figure 8 The method of issuing tasks shown. Fig.11 The task issuing device 110 shown includes: a processing unit 1101 and a communication unit 1102 .

[0171] The processing unit 1101 is used to obtain information about at least one handling task and each handling device in at least one handling device; the information about the handling device includes at least one of the following: location, working status, and handling capacity; the processing unit 1101 is also used to determine a target handling device that performs a target handling task in at least one handling task based on the information about at least one handling task and each handling device in at least one handling device; the communication unit 1102 is used to send the target handling task to the target handling device.

[0172] Optionally, the processing unit 1101 is used to determine at least one first transport device according to the specifications of the items to be transported in the target transport task and the transport capacity of each transport device in at least one transport device; the transport task includes the initial position of the items to be transported and the specifications of the items to be transported; the first transport device can meet the specification requirements of the items to be transported, and the first transport device is in an operable state; the processing unit 1101 is used to determine the second transport device according to the position of at least one first transport device and the initial position of the items to be transported; the second transport device is the transport device in at least one first transport device that is closest to the initial position of the item to be transported.

[0173] Optionally, the processing unit 1101 is used to obtain the priority of each transport task in at least one transport task; the processing unit 1101 is used to execute the transport task with the highest priority in at least one transport task.

[0174] Optionally, the processing unit 1101 is used to obtain the operating status information of the target transport equipment; the operating status information includes real-time location information and surrounding environment information; the communication unit 1102 is used to send the operating status information of the target transport equipment to the third transport equipment; the third transport equipment is a device that collaborates to run at least one transport task.

[0175] Optionally, the processing unit 1101 is used to determine, when a target transport equipment fails, a maintenance time required to repair the target transport equipment based on the fault information; the processing unit 1101 is used to instruct the communication unit 1102 to send the target transport task to the fourth transport equipment when the maintenance time is longer than a preset time and the target transport equipment does not carry any items to be transported; the fourth transport equipment is the transport equipment among the third transport equipment that is closest to the initial position of the items to be transported in the target transport task; when the maintenance time is longer than a preset time and the target transport equipment carries any items to be transported, instruct the communication unit 1102 to send the target transport task to the fifth transport equipment; the fifth transport equipment is the transport equipment among the third transport equipment that is closest to the target transport equipment.

[0176] An embodiment of the present application also provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a computer program or instruction to implement the task issuing method in the above method embodiment.

[0177] An embodiment of the present application provides a computer program product including instructions. When the instructions are executed on a computer, the computer is enabled to execute the industrial terminal switching method in the above method embodiment.

[0178] Among them, the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, and a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any other form of computer-readable storage medium in a suitable combination of the above, or numerical values ​​in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuit (ASIC). In embodiments of the present invention, computer-readable storage media may be any tangible media that contains or stores a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0179] Since the apparatus, device, computer-readable storage medium, and computer program product in the embodiments of the present invention can be applied to the above-mentioned method, the technical effects that can be obtained can also refer to the above-mentioned method embodiments, and the embodiments of the present application will not be repeated here.

[0180] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. 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: Acquire information of at least one handling task and each handling device in at least one handling device; the information of the handling device includes at least one of the following: location, working status, and handling capacity; Determine a target transport device that performs a target transport task in the at least one transport task based on the at least one transport task and information about each transport device in the at least one transport device; The target transport task is sent to the target transport equipment.

2. The method according to claim 1, characterized in that: The transport task includes an initial position of an object to be transported and a specification of the object to be transported; and determining a target transport device for executing a target transport task in the at least one transport task based on the at least one transport task and information of each transport device in the at least one transport device comprises: Determine at least one first transport device according to the specifications of the object to be transported in the target transport task and the transport capacity of each of the at least one transport device; the first transport device can meet the specification requirements of the object to be transported, and the first transport device is in an operable state; The second transport device is determined according to the position of the at least one first transport device and the initial position of the object to be transported; the second transport device is the transport device closest to the initial position of the object to be transported among the at least one first transport device.

3. The method according to claim 1, characterized in that: The determining, based on the at least one transport task and the information of each transport device in the at least one transport device, a target transport device that performs a target transport task in the at least one transport task comprises: Sending a first request message to the edge computing node; the first request message includes information of the at least one transport task and each transport device in the at least one transport device; Receive first response information from the edge computing node; the first response information includes the target transport device.

4. The method according to claim 1, characterized in that: The method further comprises: Obtaining a priority of each transport task in the at least one transport task; Execute the transport task with the highest priority among the at least one transport task.

5. The method according to claim 1, characterized in that After sending the target transport task to the target transport equipment, the method further includes: Acquire the operation status information of the target handling equipment; the operation status information includes real-time location information and surrounding environment information; The operation status information of the target transporting equipment is sent to a third transporting equipment; the third transporting equipment is a device that cooperates to run at least one transporting task.

6. The method according to claim 5, characterized in that The operation status information also includes fault information, and the method further includes: When the target transport equipment fails, determining the maintenance time required to repair the target transport equipment based on the failure information; When the maintenance time is longer than the preset time and the target transport device does not carry any items to be transported, the target transport task is sent to a fourth transport device; the fourth transport device is the transport device among the third transport devices that is closest to the initial position of the items to be transported in the target transport task; When the maintenance time is longer than the preset time and the target transport device carries items to be transported, the target transport task is sent to a fifth transport device; the fifth transport device is the transport device closest to the target transport device among the third transport devices.

7. A task issuing device, characterized in that: The device comprises: a processing unit and a communication unit; The processing unit is used to obtain at least one handling task and information of each handling device in at least one handling device; the handling task includes an initial position of an object to be handled and a specification of the object to be handled; the information of the handling device includes at least one of the following: position, working status, and handling capacity; The processing unit is further configured to determine a target transport device for executing a target transport task in the at least one transport task based on the at least one transport task and information of each transport device in the at least one transport device; The communication unit is used to send the target transport task to the target transport equipment.

8. A task issuing device, characterized in that: include: A processor and a memory; wherein the memory is used to store computer execution instructions, and 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 task issuing method described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes instructions, and when the instructions are executed by the task issuing device, the computer executes the task issuing method according to any one of claims 1 to 6.

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

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