Task processing method, system, equipment and medium

Abstract

The invention discloses a task processing method, system and device and a medium, and relates to the technical field of Internet of Things. The method comprises the steps that a target deployment position is determined according to the position of a to-be-executed task, a target moving body deployed at the target deployment position is obtained, finally, the task is sent to the target moving body according to a task instruction, the target moving body executes the task at the position of the to-be-executed task, and task processing is achieved. The preset moving areas of the different moving bodies at the different deployment positions are different, so that the target moving bodies at the different deployment positions only move in the moving areas of the target moving bodies in the task processing process, path conflicts of the moving bodies at the different deployment positions do not exist, the scheduling difficulty of the moving bodies is reduced, and the task processing efficiency is improved. The power consumption of the moving body is reduced; besides, the determined preset moving area of the target moving body and the position of the to-be-executed task have the overlapped area, so that the task is processed by scheduling the moving body nearby, and the task processing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things, and in particular to a task processing method, system, device and medium. Background Art

[0002] With the progress of digital transformation, more and more intelligent tools (i.e. mobile objects) such as mobile robots and automated guided vehicles (AGV) are deployed and applied in flexible industrial scenarios such as warehouse management systems (MS), which helps the intelligent management of production. However, when a large number of intelligent tools are deployed, complex anti-collision mobile paths need to be designed in the process of scheduling intelligent tools, and scheduling is difficult.

[0003] It can be seen that providing a new scheduling method for intelligent tools is a technical problem that people in this field urgently need to solve. Summary of the invention

[0004] The purpose of the present invention is to provide a new scheduling method for intelligent tools to solve the technical problem that when a large number of intelligent tools are deployed, complex anti-collision movement paths need to be designed during the scheduling of intelligent tools, resulting in high scheduling difficulty.

[0005] In order to solve the above technical problems, the present invention provides a task processing method, comprising:

[0006] receiving a task instruction and determining a location of a task to be performed according to the task instruction;

[0007] Determine a target deployment position according to the position of the task to be performed, and obtain a target moving body deployed at the target deployment position; wherein a preset moving area of ​​the target moving body overlaps with the position of the task to be performed, and different moving bodies at different deployment positions have different preset moving areas;

[0008] The task is sent to the target mobile object according to the task instruction, so that the target mobile object performs the task at the location where the task is to be performed.

[0009] Exemplarily, sending the task to the target mobile object according to the task instruction includes:

[0010] Acquire a target fog node corresponding to the target mobile object; wherein the target fog node is connected to a control center;

[0011] The task is sent to the target mobile object through the target fog node according to the task instruction.

[0012] Exemplarily, the preset moving areas of different moving bodies at different deployment positions are distributed in a continuous regular polygonal topology, and there is at least one moving body at the same deployment position; and obtaining the target moving body deployed at the target deployment position includes:

[0013] Acquire the amount of tasks assigned to the target deployment location and the performance of the mobile body deployed at the target deployment location; wherein the performance of the mobile body at least includes the resource allocation and work efficiency of the mobile body;

[0014] A target mobile object is determined from the mobile objects deployed at the target deployment location according to the amount of tasks assigned to the target deployment location and the performance of the mobile object.

[0015] Exemplarily, determining the deployment location and the preset movement area of ​​the mobile body at the deployment location includes:

[0016] Obtain the outermost point among all points on the edge of the task site and the service distance of the preset moving body;

[0017] Starting from the outermost point, the service distance is extended toward the interior of the mission site at a preset inclination angle to obtain an initial deployment position;

[0018] Obtain an initial inscribed regular polygon of a circle formed with the initial deployment position as the center and the service distance value as the radius;

[0019] Using the initial inscribed regular polygon as a preset moving area of ​​the moving body at the initial deployment position;

[0020] Taking each side of the initial inscribed regular polygon as an edge, a new regular polygon is drawn by diffusion to the outside of the initial inscribed regular polygon to form a regular polygon topological distribution;

[0021] The center of each new regular polygon is used as a new deployment position, and each new regular polygon is used as a preset moving area of ​​the moving body at the new deployment position.

[0022] Exemplarily, after taking the center of each new regular polygon as a new deployment position and taking each new regular polygon as a preset movement area of ​​the moving body at the new deployment position, the method further includes:

[0023] Acquire a target preset moving area in the task site; wherein the target preset moving area is a preset moving area that overlaps with the working area in the task site;

[0024] The deployment positions outside the target preset moving area are eliminated, and the deployment positions corresponding to the target preset moving area are taken as the final deployment positions.

[0025] Exemplarily, determining the location where the fog node is deployed includes:

[0026] Get the center points of multiple adjacent regular polygons;

[0027] The positions of the center points are respectively used as the deployment positions of the fog nodes, and / or a graph with the center points of a plurality of adjacent regular polygons as vertices is obtained, and the center points of the graph are used as the deployment positions of the fog nodes.

[0028] Exemplarily, after sending the task to the target mobile object according to the task instruction, the method further includes:

[0029] Receive data generated during the target mobile object processing task sent by the target fog node; wherein the data includes first data and second data, the first data is data processed by the target fog node, the second data is data not processed by the target fog node, and the delay requirement of the first data is higher than the delay requirement of the second data.

[0030] In order to solve the above technical problems, the present invention also provides a task processing system, comprising: a control center and a mobile body;

[0031] The control center is used to receive a task instruction, and determine the location of the task to be performed according to the task instruction; determine the target deployment location according to the location of the task to be performed, and obtain the target mobile body deployed at the target deployment location; wherein the preset movement area of ​​the target mobile body overlaps with the location of the task to be performed, and the preset movement areas of different mobile bodies at different deployment locations are different; send the task to the target mobile body according to the task instruction;

[0032] The mobile body is used to receive the task sent by the control center and execute the task at the location of the task to be executed.

[0033] Exemplarily, the task processing system further includes: a tool cabinet arranged at the deployment position; the tool cabinet at least includes a tool library, a transmission system, a communication control module, a disassembly and assembly platform, and a positioning device;

[0034] The tool library is connected to the transmission system, and the transmission system is connected to the disassembly and assembly platform; the communication control module is respectively connected to the control center, the tool library, the transmission system, the disassembly and assembly platform and the positioning device;

[0035] The tool library includes various functional heads of mobile bodies;

[0036] The positioning device is used to locate the position of the moving body;

[0037] The communication control module is used to send a second instruction to the disassembly and assembly platform to indicate that the current functional head of the mobile body is removed when receiving a first instruction sent by the positioning device to indicate that the mobile body is located at the position of the disassembly and assembly platform; after detecting that the disassembly and assembly platform removes the current functional head of the mobile body, determine a new functional head according to the task data sent by the control center, call the transmission system to take out the new functional head from the tool library, and send a third instruction to the disassembly and assembly platform to indicate that the new functional head is installed;

[0038] The disassembly and assembly platform is used to dismantle the current functional head of the mobile body according to the second instruction, and to install a new functional head according to the third instruction.

[0039] In order to solve the above technical problems, the present invention further provides a task processing device, comprising:

[0040] Memory for storing computer programs;

[0041] A processor is used to implement the steps of the above-mentioned task processing method when executing the computer program.

[0042] In order to solve the above technical problem, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above task processing method are implemented.

[0043] The task processing method provided by the present invention includes receiving a task instruction, determining the location of the task to be executed according to the task instruction, then determining the target deployment location according to the location of the task to be executed, and obtaining the target mobile body deployed at the target deployment location, and finally sending the task to the target mobile body according to the task instruction, so that the target mobile body executes the task at the location of the task to be executed. The task processing is realized by this method; and because the preset moving areas of different mobile bodies at different deployment locations are different, the target mobile bodies at different deployment locations only move within their own moving areas during the task processing process, and there is no path conflict between the mobile bodies at different deployment locations, which reduces the scheduling difficulty of the mobile body and reduces the power consumption of the mobile body; in addition, the preset moving area of ​​the determined target mobile body overlaps with the location of the task to be executed, that is, the mobile body is dispatched nearby to process the task, which reduces the delay of task processing and improves the efficiency of task processing.

[0044] In addition, the present invention also provides a task processing system, a task processing device and a computer-readable storage medium, which have the same or corresponding technical features as the above-mentioned task processing method and have the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] FIG1 is a schematic diagram of a task scenario provided by the present invention;

[0047] FIG2 is a flow chart of a task processing method provided by an embodiment of the present invention;

[0048] FIG3 is a schematic diagram of a control system for task processing provided by an embodiment of the present invention;

[0049] FIG4 is a schematic diagram of a continuous topological position distribution provided by an embodiment of the present invention;

[0050] FIG5 is a schematic diagram of dividing a task site according to an embodiment of the present invention;

[0051] FIG6 is a schematic diagram of a deployment position of a reserved production operation area provided by an embodiment of the present invention;

[0052] FIG7 is a schematic diagram of a task location division and positioning task provided by an embodiment of the present invention;

[0053] FIG8 is a schematic diagram of a first moving body provided by an embodiment of the present invention;

[0054] FIG9 is a schematic diagram of a second moving body provided by an embodiment of the present invention;

[0055] FIG10 is a schematic diagram of a third mobile body provided by an embodiment of the present invention;

[0056] FIG11 is an overall flow chart of a task control method provided by an embodiment of the present invention;

[0057] FIG. 12 is a structural diagram of a task processing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0059] The core of the present invention is to provide a new scheduling method for intelligent tools to solve the technical problem that when a large number of intelligent tools are deployed, complex anti-collision movement paths need to be designed during the scheduling of intelligent tools, resulting in high scheduling difficulty.

[0060] The mobile body provided by the present invention can be a mobile robot, an AGV car, etc. There is no limitation on the tasks to be processed, which are determined according to the actual situation. FIG1 is a schematic diagram of a task scenario provided by the present invention. As shown in FIG1 , a traditional smart factory 3 is usually equipped with a huge information center, which controls a large number of intelligent tools 1, which shuttle and execute operation instructions in the production operation area 2. In addition, an obstacle area 4 is also set in the traditional smart factory 3.

[0061] Due to the large number of intelligent tools, the shuttle paths are long and complex, and many problems such as path waiting, collisions, and high control delays are prone to occur, which requires extremely high control capabilities of the information center; a control error in a single tool may cause a chain accident and affect the efficiency of job execution. Therefore, the present invention provides a new scheduling method for intelligent tools to reduce the difficulty of scheduling.

[0062] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. FIG2 is a flow chart of a task processing method provided by an embodiment of the present invention. As shown in FIG2, the method includes:

[0063] S10: receiving a task instruction, and determining a location of the task to be performed according to the task instruction;

[0064] S11: determining a target deployment position according to the position of the task to be executed, and obtaining a target moving body deployed at the target deployment position;

[0065] S12: Sending a task to the target mobile object according to the task instruction, so that the target mobile object can perform the task at the location where the task is to be performed.

[0066] In order to avoid conflicts in the moving paths of the mobile bodies, in an embodiment of the present invention, multiple areas are divided in the task execution site (such as a workshop, a park, or the smart factory 3 described above). There is no limitation on the way of dividing the task site into areas, the number and size of the divided areas, etc., which are determined according to the actual situation. Then, a deployment position is set in each area for deploying the mobile body. The preset moving areas of different mobile bodies at different deployment positions are different. There is no limitation on the number of mobile bodies deployed at each deployment position, and one or more mobile bodies can be deployed.

[0067] After the deployment locations and mobile bodies at each deployment location are determined in each area of ​​the task site, when the production user uploads the task instruction (including at least the location of the task to be executed and the specific content of the task) to the cloud computing center through the upstream production system link, the cloud computing center can parse the task instruction and determine the location of the task to be executed after receiving the task instruction. The cloud computing center has established a digital twin topological map. When a task is generated at a certain coordinate position on the topological map, the coordinates can be used to locate the location of the task to be executed.

[0068] After determining the location of the task to be performed, the target deployment location can be determined according to the location of the task to be performed, and the target mobile body deployed at the target deployment location can be obtained. It should be noted that the target deployment location is one or more of the deployment locations set in advance at the task site, and the target mobile body is one or more of the mobile bodies deployed at the target deployment location. In order to improve the efficiency of task processing, multiple mobile bodies can be set at the same deployment location. In implementation, obtaining the target mobile body deployed at the target deployment location includes:

[0069] Obtaining the amount of tasks assigned to the target deployment location and the performance of the mobile body deployed at the target deployment location; wherein the performance of the mobile body at least includes the resource allocation and work efficiency of the mobile body;

[0070] A target mobile object is determined from the mobile objects deployed at the target deployment location according to the amount of tasks assigned to the target deployment location and the performance of the mobile object.

[0071] In addition, in order to improve the efficiency of scheduling, the preset moving area of ​​the target moving body in the embodiment of the present invention overlaps with the position of the task to be executed.

[0072] Afterwards, the cloud computing center can send tasks to the target mobile body. After receiving the tasks, the target mobile body performs the tasks at the location where the tasks are to be performed. It is worth noting that when the target mobile body performs the tasks at the location where the tasks are to be performed, it can only move within the preset moving area of ​​the target mobile body. When the target mobile body serves multiple preset moving areas, that is, when it receives multiple tasks at the same time, it can perform the corresponding tasks in the order in which the tasks are issued; when the target mobile body cannot meet the issued task volume, multiple target mobile bodies can be deployed as needed.

[0073] The task processing method provided in the embodiment of the present invention includes receiving a task instruction, determining the location of the task to be executed according to the task instruction, then determining the target deployment location according to the location of the task to be executed, and obtaining the target mobile body deployed at the target deployment location, and finally sending the task to the target mobile body according to the task instruction, so that the target mobile body executes the task at the location of the task to be executed. The task processing is realized by this method; and because the preset moving areas of different mobile bodies at different deployment locations are different, the target mobile bodies at different deployment locations only move within their own moving areas during the task processing process, and there is no path conflict between the mobile bodies at different deployment locations, which reduces the scheduling difficulty of the mobile body and reduces the power consumption of the mobile body; in addition, the preset moving area of ​​the determined target mobile body overlaps with the location of the task to be executed, that is, the mobile body is dispatched nearby to process the task, which reduces the delay of task processing and improves the efficiency of task processing.

[0074] In the task processing process described above, the cloud computing center interacts directly with the mobile object. The management of intelligent tools relies on the establishment of a centralized information center for unified deployment. All work instructions of intelligent tools must be coordinated and dispatched by the center, resulting in a complex dispatch control system, high requirements for the network environment, and high network pressure. In order to relieve system pressure, improve control stability, and reduce latency, in implementation, tasks are sent to the target mobile object according to task instructions, including:

[0075] Obtain a target fog node corresponding to the target mobile object; wherein the target fog node is connected to the control center;

[0076] According to the task instructions, the task is sent to the target mobile object through the target fog node.

[0077] There is no limit on the location of fog nodes and the number of fog nodes to be established, which can be determined according to the actual situation. The cloud computing center schedules the mobile body through the fog nodes corresponding to the mobile body.

[0078] In order to balance the computing pressure of fog nodes and cloud computing centers, after sending tasks to the target mobile object according to the task instructions, it also includes:

[0079] Receive data generated during the target mobile body processing task sent by the target fog node; wherein the data includes first data and second data, the first data is the data processed by the target fog node, the second data is the data not processed by the target fog node, and the delay requirement of the first data is higher than the delay requirement of the second data.

[0080] In this method, data with high latency requirements are processed in the fog nodes, and data with low latency requirements (such as reports) can be transmitted by the fog nodes to the cloud computing center, which will finally process the data.

[0081] In order to improve the real-time control response of intelligent logistics tools, reduce the pressure of network scheduling load, reduce the high latency and other problems that may be caused by uploading terminal data to the cloud, and improve the control reliability and data transmission security of terminal tools, a "cloud-fog-end" control system is constructed in the embodiment of the present invention. Figure 3 is a schematic diagram of a control system for task processing provided by an embodiment of the present invention. As shown in Figure 3, the control system includes a cloud computing center, a fog node and a terminal device (i.e., a mobile body). Among them, the cloud computing control center is used for network debugging and processing of complex and non-delay sensitive tasks. The fog node is mainly composed of many edge nodes with different computing capabilities such as mobile edge computing (MEC) devices and smart terminal individuals. Different smart terminal individuals can achieve interconnected perception and automatic networking by relying on tools such as wireless fidelity (WiFi), Bluetooth, and cellular networks. The data generated by the terminal device does not need to be crowded and uploaded to the cloud, and can be pre-processed at the front-end fog node. For slightly more complex computing tasks, other edge nodes in the network can also be used for task offloading and distributed processing, and the response is sensitive. In addition, in view of the possible networking problems of heterogeneous terminal devices in the future, middleware can be deployed in the fog node to achieve intelligent perception and automatic networking. Furthermore, since different preset mobile areas are set in advance for terminal devices at different deployment locations, multi-hop networking caused by cross-domain movement of terminal devices basically does not occur, and therefore control is more convenient.

[0082] In order to allocate the working area to the corresponding moving body, the preset moving areas of different moving bodies at different deployment positions in this embodiment are distributed in a continuous regular polygon topology. There is no limitation on the topological distribution adopted, as long as it is a regular polygon distribution. Specifically, in the implementation, determining the deployment position and the preset moving area of ​​the moving body at the deployment position includes:

[0083] Obtain the outermost point among all points on the edge of the task site and the service distance of the preset moving body;

[0084] Starting from the outermost point, the initial deployment position is obtained by extending the service distance to the inside of the mission site at a preset tilt angle;

[0085] Get the initial inscribed regular polygon of the circle with the initial deployment position as the center and the service distance value as the radius;

[0086] The initial inscribed regular polygon is used as a preset moving area of ​​the moving body at the initial deployment position;

[0087] Taking each side of the initial inscribed regular polygon as an edge, a new regular polygon is drawn to diffuse outside the initial inscribed regular polygon to form a regular polygon topological distribution;

[0088] The center of each new regular polygon is used as a new deployment position, and each new regular polygon is used as a preset moving area of ​​the moving body at the new deployment position.

[0089] Here, the method for determining the deployment position and the preset moving area of ​​the mobile body at the deployment position provided by this embodiment is described by taking the continuous regular hexagonal topological distribution of the task site as an example. FIG4 is a schematic diagram of a continuous topological position distribution provided by an embodiment of the present invention. As shown in FIG4, the outer convex corner of a workplace such as a factory / workshop is selected as a point (such as taking a corner point C of a rectangular work area as the starting point), and the stable service distance of the intelligent tool is taken as the radius R, and the distance R is extended inward from point C in the direction of 45° to reach the position of point A1; with point A1 as the center of the circle and R as the radius, a circle is drawn, and with point C as an inscribed vertex, an inscribed regular hexagon of the circle is drawn; similarly, with each side of the inscribed regular hexagon as an edge, a regular hexagon is drawn outward to form a topological structure, and the positions of each center point such as A1, A2, A3, ... and An are determined by this, and the positions of each center point such as A1, A2, A3, ... and An are the deployment positions. Correspondingly, the regular hexagon where each deployment position is located is the preset moving area of ​​the mobile body at the deployment position.

[0090] In order to achieve control of the mobile body at each deployment location, in implementation, determining the location of the fog node deployment includes:

[0091] Get the center points of multiple adjacent regular polygons;

[0092] The positions of the center points are respectively used as the deployment positions of the fog nodes, and / or a graph with the center points of multiple adjacent regular polygons as vertices is obtained, and the center points of the graph are used as the deployment positions of the fog nodes.

[0093] When each center point is used as the deployment position of the fog node, A1, A2 and A3 in Figure 4 can also be used as the deployment position of the fog node. At this time, the deployment position of the mobile body is the same as the deployment position of the fog node. While realizing the control of the mobile body at each deployment position, in order to reduce the number of fog nodes used, reduce the signal interference between fog nodes, and ensure the low latency of the network when the task volume is large, a graph with the center points of multiple adjacent regular polygons as vertices can be obtained, and the center point of the graph is used as the deployment position of the fog node. As shown in Figure 4, the mobile body is deployed at each center point such as A1 and A2, and the three adjacent center points (A1, A2, A3) are connected to form a triangle. A network cluster node (as a fog node) is deployed at the center of each triangle. In this way, the deployment forms a continuous topological position distribution of intelligent tools and a topological position distribution of network cluster nodes. The range of each regular hexagonal area is a service area of ​​an intelligent tool. Each network cluster node controls three intelligent tools within the service range, thereby constructing a "cloud-fog-end" network control system.

[0094] FIG5 is a schematic diagram of a task site division provided by an embodiment of the present invention. As shown in FIG5 , the workshop / park is a task site, and the task site is provided with a deployment point of a mobile body. By dividing the task site into several areas, a regional network cluster node (i.e., fog node) is established. Each area is provided with an independent mobile body to be responsible for the execution of operations in the area. Each network cluster node is responsible for deploying the intelligent tools in the area, thereby reducing the dependence and pressure of the scheduling network on the information center, and avoiding the scheduling difficulties, path collisions, and network instability of cross-region operations.

[0095] Because the entire workshop cannot be an operation area, and there will be some public areas, only the necessary deployment positions of mobile bodies are retained. Under the premise of ensuring full coverage of intelligent services, unnecessary deployment is reduced and deployment costs are saved. In implementation, after taking the center of each new regular polygon as the new deployment position and taking each new regular polygon as the preset movement area of ​​the mobile body at the new deployment position, it also includes:

[0096] Acquire a target preset moving area in the task site; wherein the target preset moving area is a preset moving area that overlaps with the working area in the task site;

[0097] The deployment positions outside the target preset moving area are eliminated, and the corresponding deployment positions on the target preset moving area are taken as the final deployment positions.

[0098] In FIG5 , the mobile body can be deployed only in the production operation area. FIG6 is a schematic diagram of a deployment position of the reserved production operation area provided by an embodiment of the present invention. The deployment method specifically includes the following steps:

[0099] 1. Scan and draw the workshop floor plan (black wireframe), and then draw the hexagonal topology map and the deployment location points of the mobile body;

[0100] 2. Draw a plan outline of the production area (red frame) and overlay it on the workshop floor plan;

[0101] 3. The deployment points within the red wireframe need to be retained, the deployment points within the hexagon that are completely outside the red wireframe can be removed (for example, the three black deployment points outside the red wireframe in Figure 6 can be removed), and the deployment points within the hexagon that partially overlap with the red wireframe need to be retained (for example, the three blue deployment points in the upper left corner of Figure 6 need to be retained) to facilitate the mobile body of the deployment point (such as AGV or robot, etc.) to provide assistance to the production operations within the red wireframe (such as assisting in loading and unloading, picking and placing materials, etc.).

[0102] In order to enable those skilled in the art to better understand the scheme of the present invention, the control process of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 7 is a schematic diagram of a task site division and positioning task provided by an embodiment of the present invention. The upper left corner of Figure 7 is the coordinate origin. In order to ensure the stability of the signal service, the inscribed hexagon of the service circle is the fixed service range of each mobile body (i.e., the preset mobile area), and the work within this range is scheduled to be completed by the tool at A1 (x1, y1) (multiple tools can be deployed at A1); the cloud computing center has established the digital twin topology map. When a task is generated at a certain coordinate position on the topology map, the nodes and tools at that location can be coordinately located and scheduled to ensure low-latency control. The entire control process includes the following steps:

[0103] 1. Production users upload task instructions to the cloud computing center through the upstream production system link. The cloud computing center parses the task package and distributes it to the fog node (the cloud computing center locates the specific operation area based on the network topology relationship. If there are multiple operation areas, it generates concurrent multi-task packages). The fog node transmits the task package to the terminal device at the deployment location A1 in the network. It is worth noting that when a terminal device receives multiple task packages, it can process the tasks in the order in which the task packages are sent;

[0104] 2. The terminal device at the deployment location A1 receives the task package and dynamically allocates and unloads the task package based on the computing resources in the ad hoc network;

[0105] 3. When the terminal equipment at the deployment location A1 is insufficiently allocated computing resources and the work efficiency is not up to standard, in addition to starting the mobile body a1 at the A1 location, it is necessary to start the mobile body a2 and mobile body a3 (which can be manually configured in advance according to the task volume);

[0106] 4. The local computing tasks generated by the terminal device at deployment location A1 during the operation process are transmitted to the fog node for processing. Other task data are aggregated and processed by the fog node to generate feedback information that is transmitted to the cloud computing center and production network.

[0107] A task processing method is described above, and this embodiment further provides a task processing system, including: a control center and a mobile body;

[0108] The control center is used to receive the task instruction, and determine the location of the task to be performed according to the task instruction; determine the target deployment location according to the location of the task to be performed, and obtain the target mobile body deployed at the target deployment location; wherein the preset movement area of ​​the target mobile body overlaps with the location of the task to be performed, and the preset movement areas of different mobile bodies at different deployment locations are different; send the task to the target mobile body according to the task instruction;

[0109] The mobile object is used to receive tasks sent by the control center and execute the tasks at the location where the tasks are to be executed.

[0110] In addition, considering that the traditional mobile body (intelligent tool) has the disadvantages of single function and low reusability, in order to improve the reusability of the intelligent tool, the intelligent tool is set as a detachable structure with replaceable functional heads, and the functional heads can be replaced to perform different types of operations, and different functional heads are stored in a multifunctional tool cabinet. Specifically, the task processing system provided by the embodiment of the present invention also includes: a tool cabinet set at the deployment position; the tool cabinet includes at least a tool library, a transmission system, a communication control module, a disassembly and assembly platform, and a positioning device;

[0111] The tool library is connected to the transmission system, and the transmission system is connected to the disassembly and assembly platform; the communication control module is respectively connected to the control center, the tool library, the transmission system, the disassembly and assembly platform and the positioning device;

[0112] The tool library includes various functional heads for mobile bodies;

[0113] The positioning device is used to locate the position of the moving object;

[0114] The communication control module is used to send a second instruction to the disassembly and assembly platform to indicate the removal of the current functional head of the moving body when receiving a first instruction sent by the positioning device to indicate that the moving body is located at the position of the disassembly and assembly platform; after detecting that the disassembly and assembly platform removes the current functional head of the moving body, determine a new functional head according to the task data sent by the control center, call the transmission system to take out the new functional head from the tool library, and send a third instruction to the disassembly and assembly platform to indicate the installation of the new functional head;

[0115] The disassembly and assembly platform is used to dismantle the current functional head of the mobile body according to the second instruction, and to install a new functional head according to the third instruction.

[0116] FIG8 is a schematic diagram of a first mobile body provided by an embodiment of the present invention. FIG9 is a schematic diagram of a second mobile body provided by an embodiment of the present invention. FIG10 is a schematic diagram of a third mobile body provided by an embodiment of the present invention. It can be seen that the mobile bodies provided by FIG8, FIG9 and FIG10 have different functional heads. In practice, different mobile bodies can be selected according to the type of operation to be performed. The working method of the mobile body specifically includes:

[0117] 1. After the mobile body completes the operation and receives new operation instructions, it returns to the tool cabinet;

[0118] 2. The positioning device autonomously locates the parking position of the moving body, and the control function head of the moving body is placed on the disassembly and assembly platform;

[0119] 3. The disassembly and assembly platform autonomously removes the original functional head, the communication control module synchronizes the operation instruction data, and mobilizes the transmission system to take out the correct functional head from the tool library for installation;

[0120] 4. The mobile body activates and corrects the new function system and executes the new operation instructions.

[0121] The task processing system provided in this embodiment has corresponding technical features to the task processing method described above, and the embodiment of the task processing method has been described in detail above, and the embodiment of the task processing system will not be repeated here. And it has the same beneficial effects as the task processing method mentioned above.

[0122] FIG11 is an overall flow chart of a task control method provided by an embodiment of the present invention. As shown in FIG11 , the method includes:

[0123] S13: Select intelligent tools based on operational requirements;

[0124] S14: After the intelligent tool selection is completed, a workshop plan is drawn and a node location topology distribution map is constructed;

[0125] S15: Based on the actual operation area, draw a plan of the operation area, keep necessary deployment points, and remove unnecessary deployment points;

[0126] S16: deploy intelligent tools, configure multifunctional tool cabinets, deploy node cluster networks, select master node clusters as regional fog nodes, and connect fog nodes to the cloud platform control center;

[0127] S17: The cloud platform control center broadcasts messages, and the intelligent tools feedback basic status messages for network debugging;

[0128] S18: The cloud platform control center sends a task package to the fog node. The fog node controls the intelligent tools at each node to execute the operation instructions through the network cluster. The intelligent tools collect and upload the operation data to the fog node for analysis and calculation. The processed valid data is uploaded and backed up to the cloud platform control center.

[0129] In the task processing method provided by the present invention, by deploying node-based intelligent tools and node cluster networks, that is, topologically optimizing the layout positions of intelligent tools, reasonable partitioned deployment of tools is achieved, which ensures the intensive deployment of intelligent tools and the stability of the control process, avoids path conflicts, collisions, delays and waiting caused by complex path settings, and is conducive to building an efficient operation network; simplifies the centralized scheduling mode of the traditional control center, and realizes the convenient network construction from "cloud" to "things" by adopting node-based networks and fog computing methods, shortens the long link of signal transmission, reduces the possibility of delay, improves signal strength, and reduces network pressure; by setting multifunctional intelligent tools with replaceable functional heads, the reusability of intelligent tools is effectively improved, the tool deployment cost is reduced, and it is convenient for later transformation and function expansion; the traditional centralized control is changed to node-based control of each area, shortens the scheduling link distance of the system for each tool, relieves system pressure, improves control stability, overcomes the scheduling transformation problem of centralized group control "a single move affects the whole body", and reduces the technical threshold; and by shortening the cross-regional scheduling of intelligent tools, the energy consumption of the operation process is reduced.

[0130] It should be noted that the deployment method in the embodiment of the present invention is limited to the execution of operations within the operating area. If cross-regional tasks are required, an additional cross-regional public chain can be built, and special intelligent tools can be equipped to operate along the cross-regional public chain path. The node tools deployed in the embodiment of the present invention serve as branch links, and then with the help of the collaborative operation of the public chain and the branch links, it is possible to expand and adapt to diversified operating scenarios.

[0131] In the above embodiments, the task processing method is described in detail, and the present invention also provides an embodiment corresponding to the task processing device. The embodiment of the task processing device is described from the perspective of hardware.

[0132] FIG12 is a structural diagram of a task processing device provided by an embodiment of the present invention. Based on the hardware perspective, as shown in FIG12 , the task processing device includes:

[0133] A memory 20, used for storing computer programs;

[0134] The processor 21 is used to implement the steps of the task processing method mentioned in the above embodiment when executing a computer program.

[0135] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0136] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the task processing method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the task processing method mentioned above, etc.

[0137] In some embodiments, the task processing device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0138] Those skilled in the art will appreciate that the structure shown in FIG. 12 does not constitute a limitation on the task processing device and may include more or fewer components than those shown in the figure.

[0139] The task processing device provided by the embodiment of the present invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: the task processing method, the effect is the same as above.

[0140] Finally, the present invention also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0141] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. Various media that can store program codes.

[0142] The computer-readable storage medium provided by the present invention includes the task processing method mentioned above, and the effect is the same as above.

[0143] The above is a detailed introduction to a task processing method, system, device and medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

[0144] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A task processing method, characterized in that: include: receiving a task instruction and determining a location of a task to be performed according to the task instruction; Determine a target deployment position according to the position of the task to be performed, and obtain a target moving body deployed at the target deployment position; wherein a preset moving area of ​​the target moving body overlaps with the position of the task to be performed, and different moving bodies at different deployment positions have different preset moving areas; The task is sent to the target mobile object according to the task instruction, so that the target mobile object performs the task at the location where the task is to be performed.

2. The task processing method according to claim 1, characterized in that: The sending of the task to the target mobile object according to the task instruction comprises: Acquire a target fog node corresponding to the target mobile object; wherein the target fog node is connected to a control center; The task is sent to the target mobile object through the target fog node according to the task instruction.

3. The task processing method according to claim 2, characterized in that: The preset moving areas of different moving bodies at different deployment positions are distributed in a continuous regular polygonal topology, and there is at least one moving body at the same deployment position; The acquiring of the target mobile body deployed at the target deployment position comprises: Acquire the amount of tasks assigned to the target deployment location and the performance of the mobile body deployed at the target deployment location; wherein the performance of the mobile body at least includes the resource allocation and work efficiency of the mobile body; A target mobile object is determined from the mobile objects deployed at the target deployment location according to the amount of tasks assigned to the target deployment location and the performance of the mobile object.

4. The task processing method according to claim 3, characterized in that: Determining the deployment location and the preset movement area of ​​the mobile body at the deployment location includes: Obtain the outermost point among all points on the edge of the task site and the service distance of the preset moving body; Starting from the outermost point, the service distance is extended toward the interior of the mission site at a preset inclination angle to obtain an initial deployment position; Obtain an initial inscribed regular polygon of a circle formed with the initial deployment position as the center and the service distance value as the radius; Using the initial inscribed regular polygon as a preset moving area of ​​the moving body at the initial deployment position; Taking each side of the initial inscribed regular polygon as an edge, a new regular polygon is drawn by diffusion to the outside of the initial inscribed regular polygon to form a regular polygon topological distribution; The center of each new regular polygon is used as a new deployment position, and each new regular polygon is used as a preset moving area of ​​the moving body at the new deployment position.

5. The task processing method according to claim 4, characterized in that: After taking the center of each new regular polygon as a new deployment position and taking each new regular polygon as a preset movement area of ​​the moving body at the new deployment position, the method further includes: Acquire a target preset moving area in the task site; wherein the target preset moving area is a preset moving area that overlaps with the working area in the task site; The deployment positions outside the target preset moving area are eliminated, and the deployment positions corresponding to the target preset moving area are taken as the final deployment positions.

6. The task processing method according to claim 3, characterized in that: Determining the location of fog node deployment includes: Get the center points of multiple adjacent regular polygons; The positions of the center points are respectively used as the deployment positions of the fog nodes, and / or a graph with the center points of a plurality of adjacent regular polygons as vertices is obtained, and the center points of the graph are used as the deployment positions of the fog nodes.

7. The task processing method according to any one of claims 2 to 6, characterized in that: After sending the task to the target mobile object according to the task instruction, the method further includes: Receive data generated during the target mobile object processing task sent by the target fog node; wherein the data includes first data and second data, the first data is data processed by the target fog node, the second data is data not processed by the target fog node, and the delay requirement of the first data is higher than the delay requirement of the second data.

8. A task processing system, characterized in that: include: Control center and mobile body; The control center is used to receive task instructions and determine the location of the task to be executed according to the task instructions; Determine a target deployment position according to the position of the task to be performed, and obtain a target mobile body deployed at the target deployment position; wherein a preset moving area of ​​the target mobile body overlaps with the position of the task to be performed, and different mobile bodies at different deployment positions have different preset moving areas; send a task to the target mobile body according to the task instruction; The mobile body is used to receive the task sent by the control center and execute the task at the location of the task to be executed.

9. The task processing system according to claim 8, characterized in that: Also includes: A tool cabinet is arranged at the deployment position; the tool cabinet at least includes a tool library, a transmission system, a communication control module, a disassembly and assembly platform and a positioning device; The tool library is connected to the transmission system, and the transmission system is connected to the disassembly and assembly platform; the communication control module is respectively connected to the control center, the tool library, the transmission system, the disassembly and assembly platform and the positioning device; The tool library includes various functional heads of mobile bodies; The positioning device is used to locate the position of the moving body; The communication control module is used to send a second instruction to the disassembly and assembly platform to indicate that the current functional head of the mobile body is removed when receiving a first instruction sent by the positioning device to indicate that the mobile body is located at the position of the disassembly and assembly platform; after detecting that the disassembly and assembly platform removes the current functional head of the mobile body, determine a new functional head according to the task data sent by the control center, call the transmission system to take out the new functional head from the tool library, and send a third instruction to the disassembly and assembly platform to indicate that the new functional head is installed; The disassembly and assembly platform is used to dismantle the current functional head of the mobile body according to the second instruction, and to install a new functional head according to the third instruction.

10. A task processing device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the task processing method according to any one of claims 1 to 7 when executing the computer program.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the task processing method according to any one of claims 1 to 7 are implemented.

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