Simulation process arrangement method and device, equipment and storage medium

Abstract

The invention discloses a simulation process arrangement method and device, equipment and a storage medium, relates to the technical field of simulation, and is at least used for solving the problem that it is difficult to effectively meet robot business process simulation requirements. The simulation process arrangement method comprises the following steps: displaying a process editing interface; the process editing interface comprises a task component and a logic component. And the task assembly is used for realizing simulation execution of the operation task by the simulation robot in the simulation operation area. The logic component is at least one of a resource state judgment component, a task state judgment component, a pre-scheduling component, a container management component, a storage area management component, a task triggering component, a delay component and a circulation component. The process arrangement operation is used for specifying a target task component and a target logic component in the simulation process from the task component and the logic component, and specifying logic association of different components in the simulation process.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and in particular to a simulation process scheduling method, device, equipment and storage medium. Background Art

[0002] At present, autonomous mobile robots (AMRs) are rapidly becoming popular in warehousing, industrial production and other fields to promote industrial upgrading and improve operational efficiency. The deployment cost of AMRs is high. Before actual deployment, the robot workflow is usually simulated to test whether it can meet business operation requirements after deployment to avoid cost waste.

[0003] However, the current simulation system is not well adapted to the simulation needs of robot business processes in warehousing, industrial production and other fields, especially in terms of the functional implementation of orchestration business processes. For example, it only provides some common components in various fields such as machinery and software (a component corresponds to a node in the simulation process and is used to implement the simulation operation at the node), and these common components often do not meet the needs of robot business processes. Summary of the invention

[0004] The embodiments of the present application provide a simulation process orchestration method, apparatus, device and storage medium, which are used to improve the problem of difficulty in effectively meeting the needs of robot business process simulation.

[0005] To achieve the above objectives, the present application provides the following technical solutions:

[0006] In a first aspect, a simulation process arrangement method is provided, comprising: displaying a process editing interface. The process editing interface comprises a task component and a logic component. The task component is used to implement a simulation robot to simulate the execution of a task in a simulation operation area. The logic component comprises at least one of the following: a resource status judgment component, a task status judgment component, a pre-scheduling component, a container management component, a storage area management component, a task trigger component, a delay component, and a loop component. In response to a process arrangement operation, a simulation process is determined. The process arrangement operation is used to specify a target task component and a target logic component in a simulation process from task components and logic components, and to specify the logical association of different components in the simulation process.

[0007] Among them, the target task component is used to realize the target simulation robot to simulate and execute the target task in the target simulation operation area. The resource status judgment component is used to judge the resource storage status in the target simulation operation area before or after the execution of the specified target task. The task status judgment component is used to judge the status of the specified target task. The specified target task is one of the target tasks. The pre-scheduling component is used to schedule the target simulation robot to the task starting point of the specified target task before the execution of the specified target task. The container management component is used to update the container at the specified point on the target simulation operation area. The storage area management component is used to update the specified resource storage area in the target simulation operation area according to the specified point. The task trigger component is used to trigger the execution of the specified target task in a preset manner. The delay component is used to realize the preset duration of the simulation process suspension. The loop component is used to loop the specified target task for a preset number of times.

[0008] Based on this, the embodiment of the present application can support encapsulating the process of the simulated robot executing the operation task into a task component, encapsulating the process of judging the task status into a task status judgment component, and encapsulating the process of judging the resource storage status in the simulated operation area into a resource status judgment component. For users, when creating a robot business simulation process, by performing process arrangement operations in the process editing interface, selecting any task component and / or any logic component from a variety of task components and logic components, and specifying the logical association between the selected components, the robot business simulation process can be efficiently arranged.

[0009] In addition, the resource status judgment component can support the judgment of the resource storage status in the target simulation operation area before or after the execution of the specified target task. And / or, the task status judgment component can support the determination of the specific status of the specified target task, which can realize the precise control of the simulation execution process of the specified target task in the robot business simulation process, help to deal with abnormal situations in the simulation execution process in a timely manner, and accurately control the simulation execution of other steps related to the specified target task.

[0010] And / or, the pre-scheduling component can implement pre-scheduling of the target simulation robot to support efficient scheduling of the robot in the simulation actual scene, so as to enable efficient execution of the operation task. And / or, the container management component can implement updating of containers at designated points on the target simulation operation area to support manual moving in or out of containers at the incoming platform, storage entrance, docking port, etc. in the simulation actual logistics scene. And / or, the storage area management component can implement updating of designated resource storage areas in the target simulation operation area according to designated points, so as to schedule the resources in the designated points as temporary resources, and implement dynamic management of empty or full shelves in the simulation actual scene.

[0011] And / or, the task trigger component can support convenient and efficient triggering of the simulation process. And / or, the delay component can simulate the delay conditions such as production and processing time consumption, robot channel conflict waiting, etc. in the actual scene. And / or, the loop component can simulate the iterative loop of multiple identical operation tasks in the actual scene.

[0012] Based on this, the logical nodes set in this application are more in line with the actual scenario, and can effectively support the efficient and reliable implementation of the entire simulation process. Therefore, this application can be used to improve the problem of being difficult to effectively meet the needs of robot business process simulation. In a possible embodiment, when the resource status judgment component is used to judge the resource storage situation in the target simulation operation area before the execution of the specified target task, the task starting point or task end point of the specified target task is determined. When the resource status judgment component is used to judge the resource storage situation in the target simulation operation area after the execution of the specified target task, the execution progress of the specified target task is determined.

[0013] In a possible embodiment, the resource status determination component is used to determine the number of empty storage locations or the number of non-empty storage locations in the resource storage area in the simulation operation area.

[0014] In a possible embodiment, the operation task corresponding to the task component is used to enable the simulation robot to move resources in the resource storage area in the simulation operation area.

[0015] In a possible embodiment, the task component is used to instruct a plurality of robot actions to be performed in sequence.

[0016] In a possible embodiment, the preset mode includes any one of interval triggering, single triggering, and batch triggering.

[0017] In a second aspect, a simulation process arrangement device is provided, including: a display unit and a processing unit.

[0018] The display unit is used to display the process editing interface. The process editing interface includes a task component and a logic component. The task component is used to realize the simulated robot to simulate the execution of the operation task in the simulated operation area. The logic component includes at least one of the following: a resource state judgment component, a task state judgment component, a pre-scheduling component, a container management component, a storage area management component, a task trigger component, a delay component, and a loop component.

[0019] The processing unit is used to determine the simulation process in response to the process arrangement operation. The process arrangement operation is used to specify the target task component and the target logic component in the simulation process from the task components and the logic components, and to specify the logical association of different components in the simulation process.

[0020] Among them, the target task component is used to realize the target simulation robot to simulate and execute the target task in the target simulation operation area. The resource status judgment component is used to judge the resource storage status in the target simulation operation area before or after the execution of the specified target task. The task status judgment component is used to judge the status of the specified target task. The specified target task is one of the target tasks. The pre-scheduling component is used to schedule the target simulation robot to the task starting point of the specified target task before the execution of the specified target task. The container management component is used to update the container at the specified point on the target simulation operation area. The storage area management component is used to update the specified resource storage area in the target simulation operation area according to the specified point. The task trigger component is used to trigger the execution of the specified target task in a preset manner. The delay component is used to realize the suspension of the simulation process for a preset duration. The loop component is used to loop the specified target task for a preset number of times.

[0021] In a possible embodiment, when the resource status judgment component is used to judge the resource storage situation in the target simulation operation area before the execution of the specified target task, the task start point or task end point of the specified target task is determined. When the resource status judgment component is used to judge the resource storage situation in the target simulation operation area after the execution of the specified target task, the execution progress of the specified target task is determined.

[0022] In a possible embodiment, the resource status determination component is used to determine the number of empty storage locations or the number of non-empty storage locations in the resource storage area in the simulation operation area.

[0023] In a possible embodiment, the operation task corresponding to the task component is used to enable the simulation robot to move resources in the resource storage area in the simulation operation area.

[0024] In a possible embodiment, the task component is used to instruct a plurality of robot actions to be performed in sequence.

[0025] In a possible embodiment, the preset mode includes any one of interval triggering, single triggering, and batch triggering.

[0026] In a third aspect, a computer device is provided, comprising: a processor and a memory. The processor is connected to the memory, the memory is used to store computer-executable instructions, and the processor executes the computer-executable instructions stored in the memory, thereby implementing any one of the methods provided in the first aspect.

[0027] In a fourth aspect, a readable storage medium is provided, comprising computer execution instructions, which, when executed on a computer device, causes the computer device to execute any one of the methods provided in the first aspect.

[0028] In a fifth aspect, a computer program product is provided, comprising computer execution instructions, which, when executed on a computer device, cause the computer device to execute any one of the methods provided in the first aspect.

[0029] The technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a simulation system provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of a map of a simulation area provided in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of a storage area provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present application;

[0034] Figure 5 A flowchart of a simulation process arrangement method provided in an embodiment of the present application;

[0035] Figure 6 A flowchart of a task provided in an embodiment of the present application;

[0036] Figure 7 A schematic diagram of a process editing interface provided in an embodiment of the present application;

[0037] Figure 8 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0038] Fig. 9 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0039] Fig.10 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0040] Fig.11 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0041] Fig.12 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0042] Fig.13 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0043] Fig.14 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0044] Fig.15 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0045] Fig.16 A schematic diagram of a task triggering process provided in an embodiment of the present application;

[0046] Fig.17 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0047] Fig.18 A schematic diagram of another process editing interface provided in an embodiment of the present application;

[0048] Fig.19 A schematic diagram of the structure of a simulation process orchestration device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "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. In addition, "at least one" means one or more, and "plurality" means two or more. The words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not limit them to be different.

[0050] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0051] First, a brief introduction to the application scenarios involved in this application is given.

[0052] AMRs serving warehouse logistics are used to perform tasks such as moving shelves and arranging shelves. AMR's various tasks are mainly assigned and planned by the robot scheduling system based on actual business. The deployment of AMRs means placing AMRs in real work scenarios and establishing communication between AMRs and the robot scheduling system so that AMRs can receive real work tasks issued by the robot scheduling system. Taking the handling task as an example, the robot scheduling system issues a handling task to the AMR. Based on the received handling task, the AMR moves along the path specified by the task, thereby moving the goods or shelves specified by the task from one location to another.

[0053] The deployment cost of AMR is high. If the actual test after deployment fails to meet the business operation requirements, it will easily lead to cost waste and deployment failure. Therefore, AMR simulation came into being. AMR simulation refers to the use of simulation systems to simulate AMR real operation scenarios and business processes. Through AMR simulation, potential problems in AMR deployment can be discovered in advance.

[0054] AMR simulation involves two parts: orchestration of business processes and operation of business processes. In terms of form, the orchestrated business process can be a visual directed program flow chart or behavior tree. Operation of business processes can be understood as the instantiation of visual business processes. Each time a business process is run, or a task node in a business process is run, a business process instance or task instance can be generated.

[0055] Usually, the simulation system can provide an operation interface for users to choreograph visual business processes. Users can configure process nodes based on the operation interface and establish logical associations between different process nodes to finally obtain a visual business process. However, this not only requires users to understand business needs, but also requires users to spend a lot of time in advance to familiarize themselves with the functions of the simulation system and the underlying logical foundation. For example, users need to configure business parameters and scripts in blank process nodes based on the functions of the simulation system and the underlying logical foundation. It can be seen that the professional ability requirements of users are relatively high. As a result, the creation of business processes is difficult and inefficient.

[0056] In order to solve the above problems, an embodiment of the present application provides a simulation process arrangement method. Based on the simulation process arrangement method, a computer device can display a process editing interface including multiple task components and logic components. Among them, a task component is used to realize a simulation robot to simulate and perform a class of work tasks in a simulation operation area. The logic component includes a resource status judgment component and a task status judgment component. In addition, the computer device can determine the simulation process in response to the process arrangement operation. The process arrangement operation is used to specify the target task component and the target logic component in the simulation process from the multiple task components and the logic components, and to specify the logical association of different components in the simulation process.

[0057] Based on this, the embodiment of the present application can support encapsulating the process of the simulated robot executing the task into a task component, encapsulating the process of judging the task status into a task status judgment component, and encapsulating the process of judging the resource storage status in the simulated operation area into a resource status judgment component, etc. For users, when creating a robot business simulation process, by performing process arrangement operations in the process editing interface, selecting any task component and / or any logic component from a variety of task components and logic components, and specifying the logical association between the selected components, the robot business simulation process can be efficiently arranged.

[0058] In addition, the resource status judgment component can support the judgment of the resource storage status in the target simulation operation area before or after the execution of the specified target task. And / or, the task status judgment component can support the determination of the specific status of the specified target task, which can realize the precise control of the simulation execution process of the specified target task in the robot business simulation process, help to deal with abnormal situations in the simulation execution process in a timely manner, and accurately control the simulation execution of other steps related to the specified target task.

[0059] And / or, the pre-scheduling component can implement pre-scheduling of the target simulation robot to support efficient scheduling of the robot in the simulation actual scene, so as to enable efficient execution of the operation task. And / or, the container management component can implement updating of containers at designated points on the target simulation operation area to support manual moving in or out of containers at the incoming platform, storage entrance, docking port, etc. in the simulation actual logistics scene. And / or, the storage area management component can implement updating of designated resource storage areas in the target simulation operation area according to designated points, so as to schedule the resources in the designated points as temporary resources, and implement dynamic management of empty or full shelves in the simulation actual scene.

[0060] And / or, the task trigger component can support convenient and efficient triggering of the simulation process. And / or, the delay component can simulate the delay conditions such as production and processing time consumption, robot channel conflict waiting, etc. in the actual scene. And / or, the loop component can simulate the iterative loop of multiple identical operation tasks in the actual scene.

[0061] Based on this, the logical nodes set in this application are more in line with the actual scenario and can effectively support the efficient and reliable implementation of the entire simulation process. Therefore, this application can be used to improve the problem of being difficult to effectively meet the needs of robot business process simulation.

[0062] Next, the implementation environment (implementation architecture) involved in this application is briefly introduced.

[0063] The simulation process arrangement method provided in the embodiment of the present application can be applied to the simulation system. Figure 1 Figure 2 shows a schematic diagram of the structure of a simulation system. Figure 1 As shown, the simulation system 100 includes a map configuration module 101 , a robot configuration module 102 , a shelf configuration module 103 , a task configuration module 104 and a process orchestration module 105 .

[0064] The map configuration module 101 is used to implement map parsing, map editing and warehouse area editing functions. The map is a map of the real area to be simulated, and the real area is, for example, a warehouse area in a storage environment. The map describes the location of resources such as machines and shelves, robot resident nodes, and robot channels formed by connecting different robot resident nodes. For example, the map can be a computer aided design (CAD) map.

[0065] In some embodiments, the map configuration module 101 obtains the CAD map of the target operation area and parses the points (usually representing the locations of various resources or robot resident nodes) and lines (usually representing robot channels) of the CAD map of the target operation area to obtain a topological map of the target operation area. Furthermore, the map configuration module 101 can display the topological map of the target operation area and support users to edit it, such as adding or reducing points, lines, etc. The user configures a simulation area that meets the simulation business needs by editing the topological map of the target operation area. The simulation area here can be understood as the warehouse area involved in the simulation process.

[0066] Exemplarily, based on the map configuration module 101, the map of the simulation area displayed is as follows: Figure 2 As shown in the figure, it can be seen that the map of the simulation area can be created by setting the locations of resources such as shelves and workbenches, as well as the robot residence nodes.

[0067] In addition, the map configuration module 101 supports the user to mark and divide the simulation area, for example, to divide it into different warehouse areas, picking areas, workbench areas, etc. Figure 3 As shown, the map configuration module 101 can respond to the user's box selection operation on the points in the topological map of the simulation operation area, and form a point set with the points selected by the user. A point set is used to form an independent area. In this way, the map configuration module 101 can respond to different box selection operations performed by the user to form Figure 3 Reservoir area 1 and reservoir area 2 shown in.

[0068] The robot configuration module 102 is used to implement the configuration function of the robot type and the number of robots online.

[0069] In some embodiments, the robot configuration module 102 presets a robot resource library, and the user can add or delete robot types to the robot resource library based on the robot configuration module 102. The robot configuration module 102 determines the robot to be simulated in response to the selection operation of the robot type. And, the robot configuration module 102 determines the number of robots of each type to be simulated in response to the setting operation of the number of robots of each type to be simulated. For example, under the robot configuration module 102, a robot configuration page is displayed, and the robot configuration page includes a variety of robot type options. The shelf configuration module 103 determines the target type in response to the selection operation of one or more robot type options. In response to the input operation for the number of target types, the number of robots of the target type is determined.

[0070] The robot in the embodiment of the present application can be a general robot in the same industry scenario, or it can be a special robot, which is not limited by the embodiment of the present application.

[0071] The shelf configuration module 103 is used to implement the configuration function of shelf type and shelf location.

[0072] In some embodiments, the shelf configuration module 103 presets a shelf resource library, and the user can add or delete shelf types to the shelf resource library based on the shelf configuration module 103. Under the shelf configuration module 103, a shelf configuration interface can be displayed, and the shelf configuration interface includes a variety of shelf type options. The shelf configuration module 103 responds to the selection operation of the shelf type and determines the target shelf that needs to be configured in the simulation area. In response to the binding operation of the target point and the target shelf in the simulation area, the target shelf is bound to the point. The binding operation can specifically be an operation of dragging the target shelf to the target point, or an operation of selecting the target point when the target shelf is selected.

[0073] In other embodiments, the shelf configuration module 103 is also used to configure resources such as workbenches, sorting tables, and machine tools.

[0074] Task configuration module 104, such as Figure 1 As shown, it is used to implement the configuration function of the task template.

[0075] In some embodiments, under the task configuration module 104, a node object configuration interface is displayed, in which a plurality of preset robot task templates are displayed, and a robot task template is associated with a task performed by a type of robot. Further, in response to a selection operation for a target task template among the plurality of preset robot task templates, a node object is generated according to the task associated with the target task template.

[0076] In some embodiments, the node object configuration interface displays multiple preset robot actions, and the task configuration module 104 combines the target robot actions selected by the user in order according to the user's action combination operation to obtain the robot task. Further, a node object is generated according to the robot task.

[0077] Exemplarily, the node object configuration interface displays multiple action combinations: combination 1, combination 2, and combination 3. Combination 1 is: move, carry, move, unload; combination 2 is: move, sort; combination 3 is: move, wait, sort, move, unload. Further, in response to the selected operation of combination 1, the robot tasks obtained are: move, carry, move, unload.

[0078] In some embodiments, the task configuration module 104 is further used to configure the start position and the end position in the task template.

[0079] The process orchestration module 105 is used to implement the simulation business process orchestration function.

[0080] In some embodiments, a business editing interface including a plurality of node objects is displayed in the process orchestration module 105. In response to a business orchestration operation on a target business process identifier, a target business process to be simulated is determined.

[0081] The simulation system 100 in the embodiment of the present application can be run on a computer device. The embodiment of the present application does not impose any restrictions on the specific form of the computer device. For example, the computer device can be a terminal device with a simulation process orchestration function, or a network device with a simulation process orchestration function. Among them, the terminal device can be referred to as: terminal, user equipment (UE), terminal device, mobile device, user terminal, user agent or user device, etc. The terminal device can be a mobile phone, tablet computer, notebook computer, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook, personal digital assistant (personal digital assistant, PDA), etc. The network device can be a server, etc. Among them, the server can be a physical or logical server, or there can be two or more physical or logical servers that share different responsibilities and cooperate with each other to realize the functions of the server.

[0082] In terms of hardware implementation, the above-mentioned computer device can be implemented as follows: Figure 4 The computer device shown is implemented as shown. Figure 4 FIG. 1 is a schematic diagram of a computer device provided in an embodiment of the present application. The computer device can be used to implement the functions of the above-mentioned computer device.

[0083] Figure 4 The computer device shown may include: a processor 201 , a memory 202 , a communication interface 203 , and a bus 204 . The processor 201 , the memory 202 , and the communication interface 203 may be connected via the bus 204 .

[0084] The processor 201 is the control center of the computer device, and may be a general-purpose central processing unit (CPU) or other general-purpose processors, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0085] As an example, the processor 201 may include one or more CPUs, such as Figure 4 CPU 0 and CPU 1 are shown in .

[0086] The memory 202 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0087] In a possible implementation, the memory 202 may exist independently of the processor 201. The memory 202 may be connected to the processor 201 via a bus 204 and used to store data, instructions, or program codes. When the processor 201 calls and executes the instructions or program codes stored in the memory 202, the simulation process arrangement method provided in the embodiment of the present application can be implemented.

[0088] In another possible implementation, the memory 202 may also be integrated with the processor 201 .

[0089] The communication interface 203 is used for connecting the computer device to other devices through a communication network, which may be Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 203 may include a receiving unit for receiving data and a sending unit for sending data.

[0090] The bus 204 may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0091] It should be pointed out that Figure 4 The structure shown in the figure does not constitute a limitation on the computer equipment, except Figure 4In addition to the components shown, the computer device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0092] For ease of understanding, the simulation process orchestration system provided by the present application is specifically introduced below with reference to the accompanying drawings.

[0093] like Figure 5 FIG. 1 is a flow chart of a simulation process arrangement method provided by the present application. The method includes: S301-S302.

[0094] S301: Display the process editing interface.

[0095] Among them, the process editing interface includes task components and logic components.

[0096] The task component is used to implement the simulated robot to simulate the execution of the task in the simulated operation area. The operation task corresponding to the task component is used to implement the simulated robot to move the resources in the resource storage area in the simulated operation area. For example, the task component can be used to indicate multiple robot actions to be executed in sequence. The multiple robot actions can be any combination of lifting, moving, carrying, unloading, sorting, waiting, or other actions.

[0097] The simulated operation area is the area indicated by the topological map corresponding to the actual deployment area of ​​the robot. The actual deployment area of ​​the robot can be an indoor storage area or a production line area, without restriction. Resource storage areas, robot resident nodes, workbenches, etc. for storing materials can be set up in the simulated operation area. The resource storage area is used to represent material inventory areas, material temporary storage areas, docking point areas, loading point areas, unloading point areas, etc. composed of multiple points. It should be understood that these areas can also be represented by warehouse areas or other names without restriction.

[0098] The operation task may be a transport task in which the robot transports materials from one resource storage area to another resource storage area. For another example, the operation task may be a pre-scheduled transport task in which the robot moves from one resident node to another resident node and stays there waiting.

[0099] For example, Figure 6 The figure shows a flowchart of a work task provided by an embodiment of the present application. The task component can be used to implement a simulated robot to simulate the carrying task in a simulated work area. The actions simulated by the simulated robot when performing the carrying task in the simulated work area are S1, move, S2, lift, S3, move, and S4, put down.

[0100] The logic component includes at least one of the following: a resource state judgment component, a task state judgment component, a pre-scheduling component, a container management component, a storage area management component, a task trigger component, a delay component, and a loop component. In response to the process arrangement operation, a simulation process is determined.

[0101] The resource status judgment component is used to judge the resource storage status in the simulation operation area before or after the operation task is executed. The resource storage status in the simulation operation area can be the resource storage status in any resource storage area in the simulation operation area. The resource can be a material or a storage location for storing materials.

[0102] Furthermore, the resource status judgment component is used to judge the number of empty storage locations or non-empty storage locations in the resource storage area in the simulation operation area. For example, when materials need to be moved into the resource storage area, the resource status judgment component can be set to judge the number of empty storage locations in the resource storage area so as to generate a corresponding number of handling tasks. For another example, when materials need to be moved out of the resource storage area, the resource status judgment component can be set to judge the number of non-empty storage locations in the resource storage area so as to generate a corresponding number of handling tasks.

[0103] When the resource status judgment component is used to judge the resource storage status in the simulation operation area before the operation task is executed, the task starting point or task end point of the operation task is determined. The task starting point or task end point of the operation task can be any resource storage area in the simulation operation area.

[0104] For example, when the resource status judgment component is used to judge the resource storage status of the task starting point of the operation task in the simulated operation area before the operation task is executed, it can be determined that there are no more materials in the task starting point of the operation task, so that the task starting point of the operation task is determined to be another resource storage area. For another example, when the resource status judgment component is used to judge the resource storage status of the task end point of the operation task in the simulated operation area before the operation task is executed, it can be determined that there are no more free storage spaces in the task end point of the operation task, so that the task end point of the operation task is determined to be another resource storage area.

[0105] When the resource status judgment component is used to judge the resource storage situation in the simulated operation area after the operation task is executed, the execution progress of the operation task is determined. For example, if the operation task is to move all the materials in the task starting point to the task end point, then when the resource status judgment component is used to judge the resource storage situation at the task starting point of the operation task in the simulated operation area after the operation task is executed, the execution progress of the operation task can be determined based on the remaining materials in the task starting point of the operation task.

[0106] For example, Figure 7As shown, it is a schematic diagram of a process editing interface provided by an embodiment of the present application. Figure 7 As shown in (a) in the figure, the resource status judgment component displayed in the process editing interface can be a resource judge in a diamond box. Assume that the operation task is to transport the shelves carrying materials at the entrance to the warehouse area 1 and the warehouse area 2 for storage, and the resource status judgment component is used to judge whether there is an empty storage location in the warehouse area 1 before the execution of the transportation task. In this case, by clicking the resource judger, the node name of the resource status judgment component in the simulation process can be set to whether there is an empty storage location in the warehouse area 1, and the judgment object of the resource status judgment component can be set to the warehouse area, and specifically the warehouse area 1. In addition, the judgment condition of the resource status judgment component can be set to the existence of an empty storage location. If the judgment is true, the connection node is 19, and if the judgment is false, the connection node is 20.

[0107] So, like Figure 7 As shown in (b), after executing node 18, the resource status judgment component can determine whether there is an empty storage space in warehouse area 1. If there is an empty storage space in warehouse area 1, node 19 can be executed to transport the shelf to warehouse area 1. If there is no empty storage space in warehouse area 1, node 20 can be executed to transport the shelf to warehouse area 2. Among them, the transport tasks of nodes 19 and 20 use the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions in sequence: moving to the warehouse area, lifting, moving to the warehouse area, and putting down.

[0108] The task status judgment component is used to judge the status of the job task. The judgment object of the task status judgment component is a subtask of the upper task, and the judgment condition can be a certain status of the subtask. If the judgment condition is met, that is, the judgment is true, the next node connected is executed. If the judgment condition is not met, that is, the judgment is false, the judgment continues until it is true.

[0109] The status of a task includes Start Execution, Executing, and Completed. When the simulation robot starts to execute a task, the task status is Start Execution. When the simulation robot moves to the task start point of the task and moves the shelf from the storage location, the task status is Executing. When the simulation robot moves to the task end point of the task and places the shelf, the task status is Completed.

[0110] For example, Figure 8 As shown, it is a schematic diagram of another process editing interface provided by the embodiment of the present application. Figure 8As shown in (a) in the figure, the task status judgment component displayed in the process editing interface can be a task status judger in a diamond box. Assume that the operation task is to transport the empty shelves in the use position to the storage area, and the task status judgment component is used to judge whether the status of the operation task is in execution, so that when the status of the operation task is in execution, the full shelf is transported to the use position. In this case, by clicking the task status judger, the node name of the task status judgment component in the simulation process can be set to whether the status of the operation task is in execution, and the judgment object of the task status judgment component can be set to node No. 13, and specifically the operation task. In addition, the judgment condition of the task status judgment component can be set to in execution, and if it is judged to be true, the connection node is 14.

[0111] So, like Figure 8 As shown in (b), the task status judgment component can continuously judge whether the status of the task in node 13 is in execution. If the status of the task in node 13 is in execution, node 14 is executed to transport the full shelf to the use position, thereby meeting the production demand in time. Among them, the transport tasks of nodes 13 and 14 use the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions of moving to the warehouse area, lifting, moving to the warehouse area, and putting down in sequence.

[0112] In one possible manner, the pre-scheduling component is used to schedule the simulated robot to the task starting point of the task before the task is executed. Or further, the pre-scheduling component can schedule the simulated robot according to the pre-scheduling duration. That is, compared with the start execution time of the task, the start execution time of the pre-scheduling component can be preset in advance for a time duration, so as to pre-schedule the unloaded simulated robot to the task starting point of the task.

[0113] Optionally, the task starting point of the operation task that needs to be pre-scheduled for the simulation robot can be set to a fixed point or a dynamic point. A fixed point refers to a fixed point on the topological map of the simulation operation area. A dynamic point refers to the task starting point or task end point of the operation task of a process node in the simulation process, or an associated point around the task starting point of the operation task, or an associated point around the task end point of the operation task.

[0114] Dynamic points can be specified using index syntax. For example, the index syntax can be node[x].movedot[y].cp[z]. node[x] is used to specify process node x in the simulation process. movedot[x] is used to specify the yth task among multiple tasks in process node x. cp[z] is used to specify the task start point or task end point of the yth task, or the associated points around the task start point of the yth task, or the associated points around the task end point of the yth task.

[0115] For example, Fig. 9 As shown, it is a schematic diagram of another process editing interface provided by the embodiment of the present application. Fig. 9 As shown in (a) in the figure, the pre-scheduling component displayed in the process editing interface may be a pre-scheduler. Assume that the pre-scheduler is required to pre-scheduler the unloaded simulation robot to the unloading point of the production line to quickly respond to the material handling task at the unloading point, so that the materials at the unloading point of the production line can be efficiently transported to the warehouse area.

[0116] In this case, you can click the pre-scheduler, set the node name of the pre-scheduler in the simulation process to pre-scheduling an empty vehicle (i.e., an empty robot) to the unloading point, and set the pre-scheduling time of the pre-scheduler to 100. The unit of the pre-scheduling time is seconds. In addition, you can set the location type of the pre-scheduler to a fixed point, and set the map point corresponding to the pre-scheduling location.

[0117] Alternatively, you can click the pre-scheduler, set the node name of the pre-scheduler in the simulation process to empty car pre-scheduling to the unloading point, and set the pre-scheduling time of the pre-scheduler to 100. The unit of the pre-scheduling time is seconds. In addition, you can set the position type of the pre-scheduler to a dynamic point, and set the dynamic point corresponding to the pre-scheduling position through the index syntax node[*].movesot[*].cp[*].

[0118] So, like Fig. 9 As shown in (b), after transporting the empty shelf to the node 43 corresponding to the unloading point, a pre-scheduler can be set, so that 100 seconds before the execution of the node 44 corresponding to the transport of the full shelf from the unloading point to the storage area, the empty vehicle is dispatched to the unloading point, thereby realizing the efficient execution of the full shelf transport task. Among them, the transport tasks of nodes 43 and 44 use the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions in sequence: moving to the storage area, lifting, moving to the storage area, and putting down.

[0119] In one possible approach, the container management component is used to update containers at designated locations on the simulated operation area to simulate manual movement of containers in or out of locations such as a cargo platform, a warehouse entrance, or a docking port in an actual logistics scenario. The container is used to store materials. For example, the container can be a shelf for storing materials.

[0120] Optionally, updating the container at the specified point may include adding a container at the specified point, deleting the container at the specified point, or modifying the size or type of the container at the specified point.

[0121] The specified point can be a fixed point or a dynamic point. A fixed point is a fixed point on the topological map of the simulation operation area. A dynamic point can be specified using index syntax and can be the task start point or task end point of a task of a process node in the simulation process, or an associated point around the task start point of the task, or an associated point around the task end point of the task.

[0122] For example, Fig.10 As shown, it is a schematic diagram of another process editing interface provided by the embodiment of the present application. Fig.10 As shown in (a) in the figure, the container management component displayed in the process editing interface can be a container controller. Suppose you need to add shelves to the platform for receiving goods in the simulation operation area to simulate the platform arrival scenario. In this case, you can click on the container controller, set the node name of the container controller in the simulation process to platform arrival, and set the fixed point of the container controller's operation object, which can be a map point selected in the topological map of the simulation operation area. In addition, you can set the operation mode of the container controller to add, and set the container type to shelf. In this way, the container controller can add shelves at fixed points.

[0123] Based on this, Fig.10 As shown in (b), node 2 can be the arrival of materials at platform 1, and node 8 can be the arrival of materials at platform 2. After executing the timing trigger logic corresponding to node 1, the simulation process can execute nodes 2 and 8. Furthermore, after node 2 is executed, materials arrive at platform 1, then node 3 can determine whether there is an empty storage space in warehouse area 1, so as to further execute the handling task, thereby transporting the shelf carrying materials at platform 1 to warehouse area 1 or other warehouse areas. Furthermore, after node 8 is executed, materials arrive at platform 2, then node 9 can be executed to transport the full shelf to the machine, that is, to transport the shelf carrying materials at platform 2 to the machine, so as to process the materials. Among them, the handling task of node 9 adopts the A01 task component. The A01 task component is used to realize the simulation robot to perform four actions of moving to the platform, loading, moving to the machine, and unloading in sequence.

[0124] In one possible manner, the delay component is used to implement a preset duration for pausing the simulation process. Optionally, the preset duration may be a fixed value. Alternatively, the preset duration may also be a random value within a specified duration range, i.e., a random value between a minimum value and a maximum value within the specified duration range.

[0125] In this way, by adding delay components between different nodes in the simulation process, various delay requirements in actual scenarios can be simulated. For example, production and processing delay or task randomness delay in actual scenarios. Production and processing delay refers to the time it takes for the machine to produce and process materials. Task randomness delay refers to delays such as channel conflict waiting and failure waiting that may occur when the simulation robot performs a task.

[0126] For example, Fig.11 FIG. 1 is a schematic diagram of another process editing interface provided in an embodiment of the present application. The delay component displayed in the process editing interface may be Fig.11 Assume that you need to add a delay between two tasks in the simulation process to simulate the time consumption in the actual scenario. In this case, you can click the icon of the delay component, set the node name of the delay component in the simulation process to task delay, set the delay time type of the delay component to fixed time, and specifically set the delay duration to 20. The unit of the delay duration is seconds.

[0127] Based on this, Fig.11 As shown in (b), after adding a task delay between nodes 23 and 24, after the task 1 is completed, the simulation process can wait for 20 seconds before further executing task 2. Among them, the task of nodes 23 and 24 uses the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions in sequence: moving to the storage area, lifting, moving to the storage area, and putting down.

[0128] In one possible manner, the storage area management component is used to update the designated resource storage area in the simulation operation area according to the designated point, so that the resources in the designated point are scheduled as temporary resources, and dynamic management of empty shelves or full shelves in the simulation operation area is realized. For example, when there is an empty shelf at the designated point, the storage area management component can add the designated point to the designated resource storage area in the simulation operation area, so as to place the material on the empty shelf at the designated point. For another example, when there is a full shelf at the designated point temporarily added to the designated resource storage area, the storage area management component can delete the designated point from the designated resource storage area in the simulation operation area, so as to re-determine the designated point as a loading point, so as to process the material in the full shelf at the designated point.

[0129] Optionally, the designated point can be a fixed point or a dynamic point. It should be understood that the implementation of the fixed point and the dynamic point can refer to the specific description of the fixed point and the dynamic point in the above pre-scheduling component, which will not be repeated here.

[0130] For example, Fig.12As shown, it is a schematic diagram of another process editing interface provided by an embodiment of the present application. The storage area management component displayed in the process editing interface can be Fig.12 The dynamic manager of the warehouse area shown in (a) in FIG. Assuming that the designated point is the loading point of the production line, when the materials on the full shelf at the loading point are processed and become an empty shelf, the loading point is added as an empty shelf temporary storage point in the empty shelf warehouse area.

[0131] In this case, you can click the warehouse area dynamic manager, set the node name of the warehouse area dynamic manager in the simulation process to add the loading point to the empty shelf warehouse area, set the operation type of the warehouse area dynamic manager to add, set the operation warehouse area to the empty shelf warehouse area (that is, the designated resource storage area), set the point type to a fixed point, and specifically set the map point of the fixed point.

[0132] Alternatively, you can click the warehouse area dynamic manager, set the node name of the warehouse area dynamic manager in the simulation process to add the loading point to the empty shelf warehouse area, set the operation type of the warehouse area dynamic manager to add, set the operation warehouse area to the empty shelf warehouse area, set the point type to dynamic point, and set the dynamic point specifically through the index syntax node[*].movedot[*].cp[*].

[0133] Based on this, Fig.12 As shown in (b), after the task of transporting full shelves to the loading point of node 47 in the simulation process is completed, the delay component can be executed to simulate the material processing delay. The completion of the delay component can indicate that the materials on the full shelves at the loading point have been consumed and become empty shelves. The simulation process further executes node 50, adding the loading point to the empty shelf storage area, thereby setting the loading point as an empty shelf temporary storage point and scheduling it as an available empty shelf resource point. Furthermore, when the simulation process executes the task of transporting empty shelves in the empty shelf storage area to the unloading point in node 51, the empty shelves at the loading point can be transported to the unloading point to achieve flexible scheduling of the shelves. Among them, the transport tasks of nodes 47 and 51 use the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions of moving to the storage area, lifting, moving to the storage area, and putting down in sequence.

[0134] In one possible manner, the task trigger component is used to trigger the execution of the job task in a preset manner, wherein the preset manner includes any one of interval triggering, single triggering, and batch triggering.

[0135] Interval triggering means triggering a job task in the simulation process at a specified time interval. Optionally, the specified time interval can be a fixed duration or a random duration within a time range.

[0136] For example, Fig.13FIG. 1 is a schematic diagram of another process editing interface provided in an embodiment of the present application. The task trigger component displayed in the process editing interface may be Fig.13 The generator shown in (a) in FIG. 1 is assumed to trigger the execution of the job tasks in the simulation process in an interval triggering manner.

[0137] In this case, you can click the generator, set the node name of the generator in the simulation process to interval trigger generator, set the trigger mode of the generator to interval trigger, set the time interval to 30, and set the floating beat to 5. The units of the time interval and the floating beat are in milliseconds. In this way, the specified time interval can be a random duration in the range of 25 seconds (i.e. 30 seconds minus 5 seconds) to 35 seconds (i.e. 30 seconds plus 5 seconds). Each time the interval trigger generator is triggered, a time interval is randomly determined in the range of 25 seconds to 35 seconds.

[0138] Based on this, Fig.13 As shown in (b), the interval trigger generator in the simulation process can trigger the task of transporting from warehouse area 2 to warehouse area 1 of node 42 in an interval triggering manner to simulate the resource scheduling between the two warehouses in the actual material scene. Among them, the transport task of node 42 uses the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions in sequence: moving to the warehouse area, lifting, moving to the warehouse area, and putting down.

[0139] A single trigger refers to triggering a job task in the simulation process once.

[0140] For example, Fig.14 As shown, it is a schematic diagram of another process editing interface provided by the embodiment of the present application. Assume that it is necessary to trigger the execution of a task in the simulation process in a single trigger mode. In this case, you can click the generator, set the node name of the generator in the simulation process to a single trigger generator, and set the trigger mode of the generator to a single trigger. In this way, you can get the following Fig.14 The single-shot trigger generator shown is set as a node in the simulation process to achieve a single trigger of the subsequent node in the simulation process.

[0141] Batch triggering means selecting points in the storage area as task starting points or task end points at specified time intervals without repetition and triggering the execution of corresponding work tasks, so that work tasks are executed at each point in the storage area.

[0142] For example, Fig.15 As shown, it is a schematic diagram of another process editing interface provided in an embodiment of the present application. Fig.15(a) in FIG. 1 shows the nodes corresponding to the batch trigger generator in the simulation process. Assume that the job tasks in the simulation process need to be triggered in a batch triggering manner.

[0143] In this case, you can click on the generator, set the node name of the generator in the simulation process to batch trigger generator, set the trigger mode of the generator to batch trigger, set the time interval to 30, set the floating beat to 5, and set the number of batch tasks to 24 times corresponding to the 24 points in warehouse area 2. Among them, the units of the time interval and the floating beat are wonderful. In this way, the specified time interval can be a random duration within the range of 25 seconds (i.e. 30 seconds minus 5 seconds) to 35 seconds (i.e. 30 seconds plus 5 seconds). Each time the batch trigger generator is triggered, a time interval is randomly determined within the range of 25 seconds to 35 seconds.

[0144] And, if Fig.15 As shown in (b) in the figure, by clicking the task component, the node name corresponding to node 8 can be set to transport the shelf in warehouse area 2 to warehouse area 1, and the point type of the moving target point of mobile task 1 can be set to warehouse area, and the target point can be set to warehouse area 2. In addition, the point type of the moving target point of mobile task 2 can be set to warehouse area, and the target point can be set to warehouse area 1. In this way, node 8 can realize that the simulation robot first moves to warehouse area 2 to pick up the shelf, and then transports the shelf to warehouse area 1.

[0145] Based on this, the batch trigger generator in the simulation process can batch trigger the task of transporting the shelves in warehouse area 2 to warehouse area 1 in node 8 24 times at the specified time interval. Furthermore, each time the batch trigger generator is triggered, node 8 can be repeatedly executed 24 times, each time selecting a point in warehouse area 2 as the starting point of the task, and selecting a point in warehouse area 1 as the end point of the task, so as to realize the simulation robot to perform the task of transporting the shelves in warehouse area 2 to warehouse area 1 24 times. Among them, the transport task of node 8 adopts the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions of moving to the warehouse area, lifting, moving to the warehouse area, and putting down in sequence.

[0146] In the embodiment of the present application, multiple executions of the transport task between two storage areas can be achieved by simply setting a batch trigger generator. Fig.16 , which is a schematic diagram of a task triggering process provided in an embodiment of the present application. Fig.16The simulation process of using a single trigger generator and setting multiple nodes to perform multiple handling tasks, such as node 30 performing handling task 1, node 31 performing handling task 2, and node 32 performing handling task 3, is shown. Among them, the handling tasks of multiple nodes such as node 30, node 31 and node 32 use the F01 task component. The F01 task component is used to realize the simulation robot to perform four actions in sequence: moving to the storage area, lifting, moving to the storage area, and putting down. It can be seen that compared with Fig.16 By setting multiple nodes to realize multiple executions of the handling task, the batch trigger generator in the embodiment of the present application can support the convenient and efficient implementation of the simulation process.

[0147] In one possible manner, the loop component is used to loop the task for a preset number of times to implement an iterative loop of the task. The number of the task can be one or more, without limitation.

[0148] For example, Fig.17 FIG. 1 is a schematic diagram of another process editing interface provided in an embodiment of the present application. The loop component displayed in the process editing interface may be Fig.17 The icon shown in (a) in the figure. Fig.16 , it is assumed that the transport task 1 of node 30, the transport task 2 of node 31, and the transport task 3 of node 32 need to be executed 5 times in a cycle.

[0149] In this case, you can click the loop component, set the number of loops of the loop component to 5, set the loop start node to node 30, and set the loop end node to node 32. Based on this, Fig.17 As shown in (b), before the transport task 4 of node 33 is executed in the simulation process, the loop component needs to execute the loop body composed of nodes 30 to 32 five times. Among them, the transport task of node 33 adopts the F01 task component

[0150] S302: In response to the process orchestration operation, determine a simulation process.

[0151] The process orchestration operation is used to specify target task components and target logic components in the simulation process from task components and logic components, and to specify the logical associations between different components in the simulation process.

[0152] Among them, the target task component is used to enable the target simulation robot to simulate and execute the target task in the target simulation operation area.

[0153] If the target logic component is a resource status judgment component, the target logic component is used to judge the resource storage status in the target simulation operation area before or after the execution of the specified target task. If the target logic component is a task status judgment component, the target logic component is used to judge the status of the specified target task. The status of the specified target task includes starting execution, executing, and completed. The specified target task is one of the target tasks.

[0154] Optionally, if the target logic component is a pre-scheduling component, the target logic component is used to schedule the target simulation robot to the task starting point of the specified target task before the specified target task is executed. If the target logic component is a container management component, the target logic component is used to update the container at a specified point on the target simulation operation area. The container is used to store resources. If the target logic component is a storage area management component, the target logic component is used to update the specified point in the specified resource storage area in the target simulation operation area. If the target logic component is a task trigger component, the target logic component is used to trigger the execution of the specified target task in a preset manner. If the target logic component is a delay component, the target logic component is used to realize the suspension of the simulation process for a preset duration. If the target logic component is a loop component, the target logic component is used to loop the specified target task a preset number of times.

[0155] In one possible manner, the process orchestration operation may include a component editing operation and an information configuration operation. The user may perform a component editing operation in the process editing interface, select any logical component or any task component, and add the selected component to a specified position in the simulation process. The user may perform an information configuration operation in the process editing interface to edit the configuration information of a node in the simulation process.

[0156] To facilitate users to perform process orchestration operations, the first area of ​​the process editing interface can display various task components and logic components, the second area can display the simulation process currently being edited, and the third area can display the configuration information of the selected component.

[0157] For example, Fig.18As shown, it is a schematic diagram of another process editing interface provided by an embodiment of the present application. In order to realize simulation process editing conveniently and efficiently, the process editing interface can display multiple logic components and multiple task components in the first area. Multiple logic components include generators, task state judgers, resource judgers, delayers, circulators, pre-schedulers, warehouse dynamic managers and container controllers. Multiple task components include F01, F02 and F03. The F01 task component is used to realize the simulation robot to execute four actions of moving to the warehouse area, lifting, moving to the warehouse area, and putting down in sequence. The F02 task component is used to realize the simulation robot to execute four actions of moving to the warehouse area, lifting, moving to the loading platform, and putting down in sequence. The task template corresponding to the F03 task component is used to realize the simulation robot to execute four actions of moving to the loading platform, lifting, moving to the warehouse area, and putting down in sequence.

[0158] The simulation system can respond to the user's component editing operation and display the component selected by the user at the position specified by the user in the second area to form the simulation process currently being edited. Fig.18 As shown, the simulation process currently being edited may include the generator of node 1, the transfer of node 2 from storage area 2 to storage area 1, the transfer of node 3 from storage area 3 to storage area 2, the transfer of node 4 from storage area 1 to storage area 4, whether the status of node 5 is in execution, and the transfer of node 6 from storage area 5 to storage area 1. Among them, the transfer tasks of node 2, node 3, node 4 and node 6 use the F01 task component.

[0159] The simulation system can also display the information configuration interface of the node in the simulation process in the third area. For example, when the component selected by the user in the second area is the F01 task component of node 2, the simulation system can display the information configuration interface of node 2 in the third area, and in response to the user's information configuration operation, generate the node name of node 2 as "Transport from Warehouse Area 2 to Warehouse Area 1", and set the point type of the moving target point of mobile task 1 in node 2 to warehouse area, and set the target point to warehouse area 2. In addition, the point type of the moving target point of mobile task 2 can be set to warehouse area, and the target point can be set to warehouse area 1.

[0160] Furthermore, when the simulation process is edited, the simulation system can support the user to click the check button to check whether there are nodes without configuration information, unconnected nodes, or nodes with abnormal configuration in the simulation process. In addition, the simulation system can support the user to click the OK button to generate and store relevant information of the simulation process. In addition, the simulation system can support the user to click the Cancel button to exit the simulation process editing.

[0161] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the method. It is understandable that in order to realize the above functions, the computer device includes at least one of the hardware structure and software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, 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 be beyond the scope of the present application.

[0162] The embodiment of the present application can divide the server into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0163] For example, Fig.19 The schematic diagram of the structure of a simulation process arrangement device is shown. The simulation process arrangement device 20 can be used to execute the method involved in the above embodiment. The simulation process arrangement device 20 includes: a display unit 401 and a processing unit 402.

[0164] The display unit 401 is used to display the process editing interface. The process editing interface includes a task component and a logic component. The task component is used to realize the simulation robot to simulate the execution of the operation task in the simulation operation area. The logic component includes at least one of the following: a resource state judgment component, a task state judgment component, a pre-scheduling component, a container management component, a storage area management component, a task trigger component, a delay component, and a loop component.

[0165] The processing unit 402 is used to determine the simulation process in response to the process arrangement operation. The process arrangement operation is used to specify the target task component and the target logic component in the simulation process from the task components and the logic components, and to specify the logical association between different components in the simulation process.

[0166] Among them, the target task component is used to realize the target simulation robot to simulate and execute the target task in the target simulation operation area. The resource status judgment component is used to judge the resource storage status in the target simulation operation area before or after the execution of the specified target task. The task status judgment component is used to judge the status of the specified target task. The specified target task is one of the target tasks. The pre-scheduling component is used to schedule the target simulation robot to the task starting point of the specified target task before the execution of the specified target task. The container management component is used to update the container at the specified point on the target simulation operation area. The storage area management component is used to update the specified resource storage area in the target simulation operation area according to the specified point. The task trigger component is used to trigger the execution of the specified target task in a preset manner. The delay component is used to realize the suspension of the simulation process for a preset duration. The loop component is used to loop the specified target task for a preset number of times.

[0167] In a possible embodiment, when the resource status judgment component is used to judge the resource storage situation in the target simulation operation area before the execution of the specified target task, the task start point or task end point of the specified target task is determined. When the resource status judgment component is used to judge the resource storage situation in the target simulation operation area after the execution of the specified target task, the execution progress of the specified target task is determined.

[0168] In a possible embodiment, the resource status determination component is used to determine the number of empty storage locations or the number of non-empty storage locations in the resource storage area in the simulation operation area.

[0169] In a possible embodiment, the operation task corresponding to the task component is used to enable the simulation robot to move resources in the resource storage area in the simulation operation area.

[0170] In a possible embodiment, the task component is used to instruct a plurality of robot actions to be performed in sequence.

[0171] In a possible embodiment, the preset mode includes any one of interval triggering, single triggering, and batch triggering.

[0172] For the specific description of the above optional manner, please refer to the above method embodiment, which will not be repeated here. In addition, the explanation of any server provided above and the description of the beneficial effects can refer to the above corresponding method embodiment, which will not be repeated here.

[0173] As an example, combining Figure 4 , the functions partially or completely implemented by the display unit 401 and the processing unit 402 in the simulation process arrangement device 20 can be Figure 4 Processor 201 in the Figure 4 The program code in the memory 202 is implemented.

[0174] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon. When the computer program is executed on an electronic device, the electronic device executes any of the methods executed by the server provided above.

[0175] For the explanation of the relevant contents and description of the beneficial effects of any of the readable storage media provided above, reference may be made to the corresponding embodiments above, which will not be repeated here.

[0176] The embodiment of the present application also provides a computer program product including instructions, when the instructions are run on an electronic device, the electronic device executes any one of the methods in the above embodiments. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on an electronic device, the process or function according to the embodiment of the present application is generated in whole or in part. The electronic device may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a readable storage medium, or transmitted from one readable storage medium to another readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means to another website site, computer, server, or data center. The readable storage medium may be any available medium that can be accessed by an electronic device or a data storage device such as a server, a data center, etc. that may be integrated with one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., DVDs), etc.

[0177] It should be noted that the above-mentioned devices for storing computer instructions or computer programs provided in the embodiments of the present application, such as but not limited to the above-mentioned memories, readable storage media, etc., are all non-transitory.

[0178] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on an electronic device, the process or function according to the embodiment of the present application is generated in whole or in part. The electronic device can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a readable storage medium, or transmitted from one readable storage medium to another readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The readable storage medium can be any available medium that can be accessed by the electronic device or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), etc.

[0179] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0180] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A simulation process arrangement method, characterized in that: include: Display the process editing interface; The process editing interface includes a task component and a logic component; The task component is used to realize the simulated robot to simulate the execution of the operation task in the simulated operation area; the logic component includes at least one of the following: a resource state judgment component, a task state judgment component, a pre-scheduling component, a container management component, a storage area management component, a task trigger component, a delay component, and a loop component; In response to the process orchestration operation, determining a simulation process; The process arrangement operation is used to specify the target task component and the target logic component in the simulation process from the task components and the logic components, and to specify the logical association between different components in the simulation process; Among them, the target task component is used to realize the target simulation robot to simulate and execute the target task in the target simulation operation area; the resource status judgment component is used to judge the resource storage status in the target simulation operation area before or after the execution of the specified target task; the task status judgment component is used to judge the status of the specified target task; the specified target task is one of the target tasks; the pre-scheduling component is used to schedule the target simulation robot to the task starting point of the specified target task before the execution of the specified target task; the container management component is used to update the container at the specified point on the target simulation operation area; the storage area management component is used to update the specified resource storage area in the target simulation operation area according to the specified point; the task trigger component is used to trigger the execution of the specified target task in a preset manner; The delay component is used to implement the suspension of the simulation process for a preset time period; the loop component is used to loop the specified target task for a preset number of times.

2. The method according to claim 1, characterized in that When the resource status judgment component is used to judge the resource storage status in the target simulation operation area before the execution of the specified target task, the task start point or task end point of the specified target task is determined; When the resource status judgment component is used to judge the resource storage status in the target simulation operation area after the designated target task is executed, the execution progress of the designated target task is determined.

3. The method according to claim 1 or 2, characterized in that: The resource status judgment component is used to judge the number of empty storage locations or the number of non-empty storage locations in the resource storage area in the simulation operation area.

4. The method according to claim 1, characterized in that: The operation task corresponding to the task component is used to enable the simulation robot to move resources in the resource storage area in the simulation operation area.

5. The method according to claim 1 or 4, characterized in that: The task component is used to instruct a plurality of robot actions to be performed in sequence.

6. The method according to claim 1, characterized in that The preset mode includes any one of interval triggering, single triggering, and batch triggering.

7. A simulation process arrangement device, characterized in that: include: Display unit and processing unit; The display unit is used to display the process editing interface; The process editing interface includes a task component and a logic component; The task component is used to realize the simulated robot to simulate the execution of the operation task in the simulated operation area; the logic component includes at least one of the following: a resource state judgment component, a task state judgment component, a pre-scheduling component, a container management component, a storage area management component, a task trigger component, a delay component, and a loop component; The processing unit is used to determine the simulation process in response to the process arrangement operation; The process arrangement operation is used to specify the target task component and the target logic component in the simulation process from the task components and the logic components, and to specify the logical association between different components in the simulation process; Among them, the target task component is used to realize the target simulation robot to simulate and execute the target task in the target simulation operation area; the resource status judgment component is used to judge the resource storage status in the target simulation operation area before or after the execution of the specified target task; the task status judgment component is used to judge the status of the specified target task; the specified target task is one of the target tasks; the pre-scheduling component is used to schedule the target simulation robot to the task starting point of the specified target task before the execution of the specified target task; the container management component is used to update the container at the specified point on the target simulation operation area; the storage area management component is used to update the specified resource storage area in the target simulation operation area according to the specified point; the task trigger component is used to trigger the execution of the specified target task in a preset manner; The delay component is used to implement the suspension of the simulation process for a preset time period; the loop component is used to loop the specified target task for a preset number of times.

8. The device according to claim 7, characterized in that When the resource status judgment component is used to judge the resource storage status in the target simulation operation area before the execution of the specified target task, the task start point or task end point of the specified target task is determined; When the resource status judgment component is used to judge the resource storage status in the target simulation operation area after the execution of the specified target task, the execution progress of the specified target task is determined; Or, the resource status determination component is used to determine the number of empty storage locations or the number of non-empty storage locations in the resource storage area in the simulation operation area; Or, the operation task corresponding to the task component is used to enable the simulation robot to move resources in the resource storage area in the simulation operation area; Or, the task component is used to instruct a plurality of robot actions to be performed in sequence; Or, the preset mode includes any one of interval triggering, single triggering, and batch triggering.

9. A computer device, characterized in that: include: processor; The processor is connected to a memory, the memory is used to store computer-executable instructions, and the processor executes the computer-executable instructions stored in the memory, so that the computer device implements the simulation process arrangement method according to any one of claims 1 to 6.

10. A readable storage medium, characterized in that: Used to store computer instructions, when the computer instructions are executed on a computer device, the computer device executes the simulation process arrangement method according to any one of claims 1 to 6.

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