Simulation business process creation method and device, equipment and storage medium

Abstract

The invention provides a simulation business process creation method and device, equipment and a storage medium, relates to the technical field of computers, and is used for solving the technical problems that the creation difficulty of a business process is relatively high and the efficiency is relatively low. The method comprises the steps that a service editing interface is displayed, the service editing interface comprises a plurality of node objects, and the node objects are associated with pre-packaged simulation sub-processes; the simulation sub-process comprises robot tasks and / or simulation operations except the robot tasks. The robot task represents a task performed by the robot. According to the business arrangement operation of the user, a target business process to be simulated is determined, and the target business process comprises a plurality of target simulation sub-processes following the target execution sequence. The business orchestration operation is used for selecting a target node object associated with the target simulation sub-process from the plurality of node objects and is used for orchestrating a target execution sequence.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device, equipment and storage medium for creating a simulated business process. Background Art

[0002] Autonomous mobile robots (AMRs) serving warehouse logistics are used to perform tasks such as moving shelves and sorting shelves. The deployment of AMRs refers to 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. The deployment cost of AMRs is high. If the actual test after deployment fails to meet the business operation requirements, it is easy to waste costs and cause deployment failures. Therefore, AMR simulation came into being. AMR simulation refers to the use of a simulation system to simulate AMR real work scenarios and business processes. Through AMR simulation, potential problems in AMR deployment can be discovered in advance.

[0003] AMR simulation involves orchestrating business processes. When users use the current simulation system to orchestrate business processes, they not only need to understand business requirements, but also need to spend a lot of time in advance to familiarize themselves with the functions of the simulation system and the underlying logic 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 logic 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. Summary of the invention

[0004] Based on the above technical problems, the present application provides a method, device, equipment and storage medium for creating a simulated business process, which are used to solve the technical problems of high difficulty and low efficiency in creating business processes.

[0005] In a first aspect, the present application provides a method for creating a simulated business process, the method comprising: displaying a business editing interface, the business editing interface comprising a plurality of node objects, the node objects being associated with a pre-packaged simulation sub-process. The simulation sub-process comprises a robot task and / or simulation operations other than a robot task. A robot task represents a task performed by a robot. According to a user's business orchestration operation, a target business process to be simulated is determined, the target business process comprising a plurality of target simulation sub-processes that follow a target execution order. The business orchestration operation is used to select a target node object associated with a target simulation sub-process from a plurality of node objects, and to orchestrate a target execution order.

[0006] It can be seen from the above embodiments that in the simulation scenario for the robot operation task, the simulation sub-process is pre-encapsulated into a node object in the simulation system, and the simulation sub-process includes the robot task and / or the simulation operation other than the robot task. Furthermore, the user selects the target node object through the business orchestration operation, and arranges the execution order between the target node objects to achieve the creation of the simulation process. For the user, when creating a simulation business process, it is only necessary to select the target node object through the business orchestration operation, and arrange the execution order between the target node objects to complete the creation of the target business process. The user does not need to configure business parameters and scripts in the blank process node, and thus does not need to be familiar with the functions of the simulation system and the underlying logical basis, thereby reducing the difficulty of creating the business process and improving the efficiency of creating the business process.

[0007] In a possible implementation, the service editing interface includes a first area and a second area, and multiple node objects are displayed in the first area. The service arrangement operation includes: selecting a target node object from multiple node objects in the first area and dragging it to the second area. And / or, moving the position of the target node object in the second area and connecting different target node objects.

[0008] From the above, it can be seen that users can achieve the arrangement of simulation business processes through simple interface operations, specifically drag and drop and connection operations. In this way, users can quickly create simulation business processes, improving the efficiency of business creation processes.

[0009] In a possible implementation, the method further includes: displaying a business process diagram in the second area according to the position of each target node object and the connection relationship between different target node objects. It can be seen that after creating a business process, the business process diagram is displayed, allowing the user to intuitively see the execution order of the simulated business process and quickly identify whether the simulated business process is abnormal, thereby improving the efficiency of the simulated business.

[0010] In a possible implementation, the plurality of target simulation sub-processes include a target robot task, and the method further includes: displaying a robot configuration interface, the robot configuration interface including at least one robot type option. In response to a user's selection operation on the robot type option, determining a target type. The target robot task in the target simulation process is executed by a robot simulation of the target type.

[0011] It can be seen that the simulation system provides a robot type configuration function. Specifically, a robot configuration interface is provided, and the user completes the configuration of the simulation robot type by selecting the displayed robot type to be selected in the robot configuration interface, so that the robot type configuration can be completed quickly.

[0012] In a possible implementation manner, the method further includes: receiving the online number of robots of various target types input by the user in the robot configuration interface.

[0013] It can be seen that the simulation system provides a robot quantity configuration function. Specifically, by inputting a value in the robot configuration interface, the number of robots of the target type that are online can be determined. The configuration of the number of robots online can be completed quickly, thereby improving the creation of simulation business processes.

[0014] In a possible implementation, the method further includes: displaying a resource configuration interface, the resource configuration interface including a plurality of resource objects and a map of a target operation area, the resource objects representing storage resources that can be placed in the target operation area, and the map being used to present resource placement points and robot movement channels in the target operation area. According to a user's resource configuration operation, resource configuration information of the target operation area is determined, the resource configuration operation being used to select a target resource object from a plurality of resource objects and to bind the target resource object to a target point in the target operation area. The resource configuration information represents resources placed in the target operation area.

[0015] It can be seen that the simulation system provides resource configuration functions. Specifically, in the resource configuration interface that displays a map of multiple resource objects and target operation areas, the user binds the resource object to the target point through the point binding operation. The resource object configuration can be quickly realized without manually creating the resource object, which improves the efficiency of resource object configuration and thus improves the efficiency of creating business processes.

[0016] In a possible implementation, the resource configuration operation includes: selecting a target resource object from a plurality of resource objects and dragging the object to a target location.

[0017] In a possible implementation, the resource object includes a shelf for carrying goods. The robot task is to move the shelf or arrange the shelf by the robot. Different resource objects represent different types of shelves.

[0018] In a possible implementation, before displaying the business editing interface, the method further includes: displaying a node object configuration interface, wherein a plurality of preset robot task templates are displayed in the node object configuration interface, wherein a robot task template is associated with a task performed by a type of robot. In response to a user's selection operation of a target task template from the plurality of preset robot task templates, a node object is generated according to the task associated with the target task template.

[0019] In a possible implementation, before displaying the business editing interface, the method further includes: displaying a node object configuration interface, wherein a plurality of preset robot actions are displayed in the node object configuration interface. According to the user's action combination operation, the target robot actions selected by the user are combined in sequence to obtain a robot task. According to the robot task, a node object is generated.

[0020] It can be seen that the simulation system provides a node object configuration function. In the node object configuration interface, according to the user's selection operation of the task template or action combination, a node object associated with the robot task is generated.

[0021] In a possible implementation, simulation operations other than robot tasks include: at least one of: pre-scheduling operation, annotation operation, task triggering operation, resource status judgment operation, task status judgment operation, container management operation, delay operation, loop operation and storage area management operation. The pre-scheduling operation is used to pre-schedule the robot to a preset position, the annotation operation is used to annotate the simulation business process, the task triggering operation is used to start the target business process, the resource status judgment operation is used to judge the number of empty storage locations or non-empty storage locations in the target operation area, the task status judgment operation is used to judge the execution state of the target simulation sub-process, the container management operation is used to adjust the resource objects in the target operation area, the delay operation is used to indicate the target simulation sub-process to pause for a preset time, the loop operation is used to indicate the number of times the target simulation sub-process is sequentially executed, and the storage area management operation is used to adjust the location of the resource objects in the target area.

[0022] In a second aspect, the present application provides a device for creating a simulated business process, the creation device comprising: a display unit and a determination unit.

[0023] The display unit is used to display a business editing interface, which includes a plurality of node objects, and the node objects are associated with pre-packaged simulation sub-processes. The simulation sub-process includes robot tasks and / or simulation operations other than robot tasks. The robot task represents a task performed by the robot.

[0024] The determination unit is used to determine the target business process to be simulated according to the business arrangement operation of the user, wherein the target business process includes multiple target simulation sub-processes following the target execution order. The business arrangement operation is used to select a target node object associated with the target simulation sub-process from multiple node objects, and to arrange the target execution order.

[0025] In a possible implementation, the service editing interface includes a first area and a second area, and multiple node objects are displayed in the first area. The service arrangement operation includes: selecting a target node object from multiple node objects in the first area and dragging it to the second area. And / or, moving the position of the target node object in the second area and connecting different target node objects.

[0026] In a possible implementation, the display unit is further configured to: display the business process diagram in the second area according to the position of each target node object and the connection relationship between different target node objects.

[0027] In a possible implementation, the plurality of target simulation sub-processes include a target robot task, and the display unit is further used to display a robot configuration interface, wherein the robot configuration interface includes at least one robot type option. The determination unit is further used to determine the target type in response to a user's selection operation on the robot type option. The target robot task in the target simulation process is executed by a robot simulation of the target type.

[0028] In a possible implementation, the creation device further includes: a receiving unit. The receiving unit is used to receive the online number of robots of various target types input by the user in the robot configuration interface.

[0029] In a possible implementation, the display unit is further used to display a resource configuration interface, which includes multiple resource objects and a map of the target operation area. The resource objects represent storage resources that can be placed in the target operation area, and the map is used to present resource placement points in the target operation area and the robot's moving channel. The determination unit is further used to determine resource configuration information of the target operation area according to the user's resource configuration operation, and the resource configuration operation is used to select a target resource object from multiple resource objects and bind the target resource object to a target point in the target operation area. The resource configuration information represents the resources placed in the target operation area.

[0030] In a possible implementation, the resource configuration operation includes: selecting a target resource object from a plurality of resource objects and dragging the object to a target location.

[0031] In a possible implementation, the resource object includes a shelf for carrying goods, and the robot task is to move the shelf or arrange the shelf by the robot. Different resource objects represent different types of shelves.

[0032] In a possible implementation, the creation device includes: a processing unit. A display unit is further used to display a node object configuration interface, 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. The processing unit is used to generate a node object according to the task associated with the target task template in response to a user's selection operation on a target task template among the plurality of preset robot task templates.

[0033] In a possible implementation, the display unit is further used to display a node object configuration interface, in which a plurality of preset robot actions are displayed. The processing unit is further used to combine the target robot actions selected by the user in sequence according to the user's action combination operation to obtain a robot task. The processing unit is further used to generate a node object according to the robot task.

[0034] In a possible implementation, simulation operations other than robot tasks include: at least one of: pre-scheduling operation, annotation operation, task triggering operation, resource status judgment operation, task status judgment operation, container management operation, delay operation, loop operation and storage area management operation. The pre-scheduling operation is used to pre-schedule the robot to a preset position, the annotation operation is used to annotate the simulation business process, the task triggering operation is used to start the target business process, the resource status judgment operation is used to judge the number of empty storage locations or non-empty storage locations in the target operation area, the task status judgment operation is used to judge the execution state of the target simulation sub-process, the container management operation is used to adjust the resource objects in the target operation area, the delay operation is used to indicate the target simulation sub-process to pause for a preset time, the loop operation is used to indicate the number of times the target simulation sub-process is sequentially executed, and the storage area management operation is used to adjust the location of the resource objects in the target area.

[0035] In a third aspect, the present application provides an electronic device, the electronic device comprising a processor and a memory. The memory stores instructions executable by the processor. When the processor is configured to execute the instructions, the electronic device implements the creation method of the first aspect.

[0036] In a fourth aspect, the present application provides a computer program product. When the computer program product is run in an electronic device, the electronic device executes the method related to the first aspect to implement the creation method of the first aspect.

[0037] In a fifth aspect, the present application provides a readable storage medium, the readable storage medium comprising: software instructions. When the software instructions are executed in an electronic device, the electronic device implements the creation method in the first aspect.

[0038] The beneficial effects of the second to fifth aspects mentioned above can be referred to the first aspect and will not be elaborated on again. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of a simulation system provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a map of a target business area provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of a map of a marked target business area provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of a robot configuration page provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of a shelf configuration page provided in an embodiment of the present application;

[0045] Figure 6 A schematic diagram of a node object configuration interface provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of a service editing interface provided in an embodiment of the present application;

[0047] Figure 8 A schematic diagram of the composition of an electronic device provided in an embodiment of the present application;

[0048] Fig. 9 A flowchart of a method for creating a simulated business process provided in an embodiment of the present application;

[0049] Fig.10 A schematic diagram of a service editing interface provided in an embodiment of the present application;

[0050] Fig.11 A schematic diagram of another service editing interface provided in an embodiment of the present application;

[0051] Fig.12 A schematic diagram of a business resource configuration interface provided in an embodiment of the present application;

[0052] Fig.13 A schematic diagram of a robot configuration interface provided in an embodiment of the present application;

[0053] Fig.14 A schematic diagram of a node object configuration interface provided in an embodiment of the present application;

[0054] Fig.15 A flowchart of another method for creating a simulation business process provided in an embodiment of the present application;

[0055] Fig.16 A schematic diagram of the composition of a device for creating a simulated business process provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0058] In addition, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, 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, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0059] Autonomous mobile robots (AMRs) serving warehouse logistics are used to perform tasks such as moving shelves and sorting shelves. The various tasks of AMR are mainly assigned and planned by the robot scheduling system based on actual business. The deployment of AMR refers to placing AMR in a real work scene and establishing a communication link between AMR and the robot scheduling system so that AMR 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. According to 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In view of the above problems, an embodiment of the present application provides a method for creating a simulated business process, the method comprising: displaying a business editing interface, the business editing interface comprising multiple node objects, and the node objects are associated with pre-packaged simulation sub-processes. The simulation sub-process includes robot tasks and / or simulation operations other than robot tasks. Robot tasks represent tasks performed by a robot. According to the user's business orchestration operation, a target business process to be simulated is determined, and the target business process includes multiple target simulation sub-processes that follow a target execution order. The business orchestration operation is used to select a target node object associated with a target simulation sub-process from multiple node objects, and to orchestrate the target execution order.

[0064] In this way, the simulation sub-process is pre-encapsulated as a node object in the simulation system. When creating a simulation business process, the user only needs to select the target node object through the business orchestration operation and arrange the execution order between the simulation sub-processes associated with the target node object to complete the creation of the target business process. Users do not need to be familiar with the functions of the simulation system and the underlying logical basis, thereby reducing the difficulty of creating business processes and improving the efficiency of creating business processes.

[0065] The following describes in detail the method for creating a simulation business process provided by an embodiment of the present application in conjunction with the accompanying drawings.

[0066] The method for creating a simulation business process provided in the embodiment of the present application can be applied to a 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 business orchestration module 105 .

[0067] The map configuration module 101 is used to implement map parsing, map editing and warehouse area editing functions. The map is a map of a 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.

[0068] In some embodiments, the map parsing function of the map configuration module 101 specifically includes obtaining a CAD map of the target operation area and parsing the points (usually representing the locations of various resources or robot residence 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 editing function of the map configuration module 101 can specifically display the topological map of the target operation area and support users to edit it, such as adding or reducing points, lines, etc. The warehouse area editing function of the map configuration module 101 supports users to configure 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.

[0069] Exemplarily, based on the map configuration module 101, the map of the simulation area displayed is as follows: Figure 2 As shown. It can be seen that Figure 2 Aisles, shelves, and workstations of the simulated area are shown.

[0070] In addition, the warehouse area editing function of the map configuration module 101 supports users to mark and divide the simulation area, such as dividing different warehouse areas, picking areas, storage areas, workbench areas, etc. Specifically, after the user selects a point set in the topology map by mouse operation, the point set constitutes an independent area. Figure 3 As shown, the marked simulation area includes warehouse area 1, warehouse area 2, workbench 1 in warehouse area 1, and workbench 2 in warehouse area 2.

[0071] The robot configuration module 102 is used to implement the robot type selection and the configuration function of the number of robots online.

[0072] 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 robot configuration module 102 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.

[0073] For example, Figure 4 As shown in Figure 1, a robot configuration page is shown. Figure 4 The a page in the figure shows the "robot type configuration" control and the "robot quantity configuration" control. If the user clicks the "robot type configuration" control, the following is displayed: Figure 4 The "Add" control and the "Delete" control are displayed as shown in page b in the figure. The "Add" control allows you to enter the robot type addition interface, and the "Delete" control allows you to enter the robot type deletion interface. In the robot type addition interface, users can select the robot type to be added. In the robot type deletion interface, users can select the robot type to be deleted from the selected robot types. If the user clicks "Robot Quantity Configuration", the following is displayed: Figure 4 The selected robot type is shown in c in Figure 4 The c page in the figure shows a robot of type A and a robot of type C) and a quantity configuration box. The robot in the embodiment of the present application can be a general robot in the same industry scenario, or a special robot, which is not limited in the embodiment of the present application.

[0074] The shelf configuration module 103 is used to implement the configuration function of shelf type and shelf location.

[0075] 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.

[0076] For example, Figure 5 As shown in FIG. 1 , a shelf configuration page is shown. Figure 5 The a page in the figure shows the "Shelf Type Configuration" control and the "Shelf Location Configuration" control. If the user clicks the "Shelf Type Configuration" control, the following is displayed: Figure 5 The "Add" control and the "Delete" control are displayed as shown in page b in the figure. The "Add" control allows you to enter the shelf type addition interface, and the "Delete" control allows you to enter the shelf type deletion interface. In the shelf type addition interface, users can select the shelf type to be added. In the shelf type deletion interface, users can select the shelf type to be deleted from the selected shelf types. If the user clicks "Shelf Location Configuration", the following is displayed: Figure 5 As shown in the c page in the Figure 5 Figure c shows shelf 1) and a "position configuration" control. When the user clicks on the "position configuration" control, a map of the simulation area is displayed to allow the user to determine the configuration position of shelf 1.

[0077] In other embodiments, the shelf configuration module 103 is also used to configure resources such as workbenches, sorting tables, and machine tools.

[0078] The task configuration module 104 is used to implement the configuration function of the task template.

[0079] 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.

[0080] In some embodiments, the node object configuration interface may also display 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.

[0081] For example, Figure 6 As shown in FIG. 1 , a node object configuration interface is shown. Figure 6 Page a in the diagram shows 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, and the generated Figure 6 Node object shown on page b: F11.

[0082] That is, the task configuration module 104 supports the user to select a target task template from a plurality of preset robot task templates, and then the task configuration module 104 generates a node object according to the task associated with the target task template. And / or, the task configuration module 104 supports the user to customize the robot task by inputting an action combination operation. Then the task configuration module 104 generates a node object according to the robot task customized by the user.

[0083] In some embodiments, the task configuration module 104 is further configured to support the user in configuring the start position and the end position in the task template.

[0084] The business orchestration module 105 is used to implement the simulation business process orchestration function.

[0085] In some embodiments, a business editing interface including multiple node objects is displayed in the business 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.

[0086] In the embodiment of the present application, the node object is also called a component. In the business editing interface, multiple components are displayed, and the multiple components are divided into two types, namely task components and logic components. Task components are node objects associated with pre-packaged robot tasks. Logical components are node objects associated with simulation sub-processes (one or more simulation operations) other than robot tasks.

[0087] For example, Figure 7 As shown, a business editing interface is shown, including a first area, a second area and a third area. Figure 7In the process editing interface, multiple logic components and multiple task components can be displayed in the first area. The multiple logic components include logic component 1, logic component 2, logic component 3, logic component 4, logic component 5, logic component 6, logic component 7 and logic component 8. The multiple task components include F01, F02 and F03. The F01 task component is used to realize the simulation robot to sequentially execute the four actions of moving to the storage area, lifting, moving to the storage area, and putting down. The F02 task component is used to realize the simulation robot to sequentially execute the four actions of moving to the storage area, lifting, moving to the loading platform, and putting down. The task template corresponding to the F03 task component is used to realize the simulation robot to sequentially execute the four actions of moving to the loading platform, lifting, moving to the storage area, and putting down.

[0088] The simulation system 100 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. Figure 7 As shown, the simulation process currently being edited may include the logical component 1 of node 1, the transfer of storage area 2 to storage area 1 of node 2, the transfer of storage area 3 to storage area 2 of node 3, the transfer of storage area 1 to storage area 4 of node 4, whether the status of node 5 is in execution, and the transfer of storage area 5 to storage area 1 of node 6. Among them, the transfer tasks of node 2, node 3, node 4 and node 6 use the F01 task component.

[0089] The simulation system 100 can also display the information configuration interface of the nodes in the simulation process in the third area. Subsequently, when the simulation process editing is completed, the simulation system 100 can support the user to click the verification button to verify whether there are nodes without configuration information, unconnected nodes or nodes with abnormal configuration in the simulation process. In addition, the simulation system 100 can support the user to click the OK button to generate and store relevant information of the simulation process. In addition, the simulation system 100 can support the user to click the Cancel button to exit the simulation process editing.

[0090] The simulation system 100 in the embodiment of the present application can be run on an electronic device. The electronic device can be a server or a terminal device. The server can be a single server or a server cluster or a cloud server, which is not limited in the embodiment of the present application.

[0091] Figure 8 The following is a schematic diagram of the composition of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device may include: a processor 20 , a memory 21 , a communication line 22 , a communication interface 23 , and an input / output interface 24 .

[0092] The processor 20 , the memory 21 , the communication interface 23 and the input / output interface 24 may be connected via a communication line 22 .

[0093] The processor 20 is used to execute the instructions stored in the memory 21 to implement the fault analysis method provided in the following embodiments of the present application. The processor 20 can be a CPU, a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller (MCU) / single-chip microcomputer, a programmable logic device (PLD), or any combination thereof. The processor 20 can also be any other device with processing functions, such as a circuit, a device, or a software module, which is not limited in the embodiments of the present application. In one example, the processor 20 may include one or more CPUs, such as Figure 8 As an optional implementation, the server may include multiple processors, for example, in addition to processor 20, it may also include processor 25 ( Figure 8 The dashed line is used as an example.

[0094] The memory 21 is used to store instructions. For example, the instructions may be computer programs. Optionally, the memory 21 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage devices, etc., and the embodiments of the present application are not limited to this.

[0095] It should be noted that the memory 21 may exist independently of the processor 20, or may be integrated with the processor 20. The memory 21 may be located inside the server, or may be located outside the server, which is not limited in the embodiment of the present application.

[0096] The communication line 22 is used to transmit information between the components included in the server.

[0097] The communication interface 23 is used to communicate with other devices or other communication networks. The other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 23 may be a module, a circuit, a transceiver or any device capable of achieving communication.

[0098] The input / output interface 24 is used to implement human-computer interaction between the user and the server, for example, to implement action interaction or information interaction between the user and the server.

[0099] Exemplarily, the input / output interface 24 may be a mouse, a keyboard, a display screen, or a touch display screen, etc. Action interaction or information interaction between a user and a server may be achieved through a mouse, a keyboard, a display screen, or a touch display screen, etc.

[0100] It should be noted that Figure 8 The structure shown in the figure does not constitute a limitation on the electronic device, except Figure 8 In addition to the components shown, the electronic device may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0101] The following introduces the method for creating a simulation business process provided in an embodiment of the present application.

[0102] Fig. 9 A flowchart of a method for creating a simulated business process provided in an embodiment of the present application. The method for creating a simulated business process provided in an embodiment of the present application includes: S901-S902.

[0103] S901. Display a service editing interface.

[0104] The business editing interface includes a plurality of node objects, and the node objects are associated with pre-packaged simulation sub-processes. The simulation sub-processes include robot tasks and / or simulation operations other than robot tasks. The robot tasks represent tasks performed by the robot.

[0105] In the embodiment of the present application, the node object is associated with the simulation sub-process, and the code of the node object and the simulation sub-process can correspond. In this way, the simulation sub-process is executed by triggering the node object to run the code of the simulation sub-process. As a possible implementation method, the electronic device responds to the interface display operation and displays the business editing interface.

[0106] In some embodiments, the service editing interface is an interface including a first area and a second area. The first area displays a plurality of node objects, and the second area displays a selected node object.

[0107] The node object in the embodiment of the present application may include a task node object and a logic node object, wherein the task node object is also the task component mentioned above, and the logic node object is also the logic component mentioned above.

[0108] A task node object is used to implement a simulated robot to simulate and execute a type of task in a simulated operation area, namely, a robot task. The task node object corresponds to an operation task for implementing the simulated robot to move resources in a resource storage area in the simulated operation area.

[0109] In the embodiment of the present application, the operation task is a combination of multiple actions performed by the simulation robot. Different types of operation tasks correspond to different simulation business sub-processes performed by the simulation robot. For example, the A-type operation task is: move to the warehouse area, lift, move to the warehouse area, put down, and the B-type operation task 2 is: move to the warehouse area, put down.

[0110] The simulated operation area is an area simulated based on the actual deployment area of ​​the robot, corresponding to the area indicated by the topological map. 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.

[0111] The operation task can be a handling task in which the robot carries materials from one resource storage area to another resource storage area. The operation task can also be a pre-scheduled handling task in which the robot moves from one resident node to another resident node and stays there waiting.

[0112] For example, in Fig.10 , a component bar (i.e., the first area) in the business editing interface is shown, and the component bar includes multiple logical node objects and two task node objects: F11 and F12. The logical node objects are specifically one or more of a pre-scheduling component, an annotation component, a task trigger component, a resource status judgment component, a task status judgment component, a container management component, a delay component, a loop component, and a storage area management component.

[0113] In some embodiments, the logical node object is pre-configured by an operation and maintenance personnel.

[0114] For example, in Fig.10 The component column shown in shows a pre-scheduling component: a pre-scheduler.

[0115] The container management component is used to update containers at designated points in the simulated operation area to simulate manual loading or unloading of containers at the incoming platform, warehouse entrance, docking port, etc. in actual logistics scenarios. Containers are used to store materials. For example, containers can be shelves for storing materials.

[0116] 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.

[0117] 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.

[0118] For example, in Fig.10 The component bar shown in shows a container management component: a vehicle controller.

[0119] The delay component is used to implement the preset duration of pausing the simulation process. Optionally, the preset duration can be a fixed value. Alternatively, the preset duration can also be a random value in the specified duration range, that is, a random value between the minimum and maximum values ​​of the specified duration range.

[0120] 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.

[0121] For example, in Fig.10 The component column shown shows a delay component: a delay device.

[0122] The task trigger component is used to trigger the execution of the job task according to a preset method, wherein the preset method includes any one of interval triggering, single triggering, and batch triggering.

[0123] 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.

[0124] A single trigger refers to triggering a job task in the simulation process once.

[0125] 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.

[0126] For example, in Fig.10 The component bar shown shows a task trigger component: generator.

[0127] 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 tasks can be one or more, without limitation.

[0128] For example, in Fig.10 The component bar shown shows a loop component: a circulator.

[0129] 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.

[0130] 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 node object 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] For example, in Fig.10 The component column shown shows a resource status judgment component: resource judger.

[0135] The task status judgment component is used to judge the status of the job task. The judgment object of the task status judgment node object is a subtask of the connected 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.

[0136] 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.

[0137] For example, in Fig.10 The component column shown shows a task status judgment component: task judger.

[0138] The pre-scheduling component is used to schedule the simulation robot to the task starting point of the operation task before the operation task is executed. Or further, the pre-scheduling component can schedule the simulation robot according to the pre-scheduling duration. That is, compared with the start execution time of the operation task, the start execution time of the pre-scheduling component can be preset in advance for a time length, so as to pre-schedule the unloaded simulation robot to the task starting point of the operation task.

[0139] 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.

[0140] 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.

[0141] For example, in Fig.10 The business editing interface shown in FIG. 1 shows a pre-scheduling component: a pre-scheduler.

[0142] 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 as to schedule the resources in the designated point as temporary resources, and realize the dynamic management of empty shelves or full shelves in the simulation operation area. 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.

[0143] 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.

[0144] For example, in Fig.10 The component bar shown shows a storage area management component: dynamic regulator.

[0145] The annotation component is used to explain the display objects in the business editing interface. For example, the generated target business process can be explained through the annotation component.

[0146] For example, in Fig.10 The business editing interface shown in the figure shows a comment component: a text box.

[0147] It should be understood that the functions and effects of the above task components and logic components are all realized by running codes (such as scripts) corresponding to the task components and logic components during the execution of the simulated business process by an electronic device (such as a server or a terminal device). The specific implementation method of the electronic device executing the simulated business process is not described in detail in the embodiment of the present application.

[0148] In some embodiments, the robot task is associated with the elements of the robot's task execution, and the elements of the task execution include at least one of the robot's action, type, and moving path (determined by a starting point and an end point). For example, the robot task is associated with the elements of the robot's task execution: robot type A, move, load, move, unload, warehouse area 1, and sorting station, to indicate that the robot type A moves to the shelf in the warehouse area to load, and moves to the sorting station to unload.

[0149] In some embodiments, a simulation sub-process may specifically be a robot task, or may include multiple robot tasks. In practical applications, simulation sub-processes of different granularities may be divided according to the actual arrangement requirements and the number of robot tasks included. Generally speaking, a coarser-grained simulation sub-process includes a larger number and / or a larger number of types of robot tasks. A finer-grained simulation sub-process includes a smaller number and / or a smaller number of types of robot tasks.

[0150] In other embodiments, the simulation sub-process may specifically be one or more simulation operations other than the robot task. Since the operations in the simulation process are implemented by the node components constituting the simulation process, and the robot task is implemented by the task component, the simulation operation generally refers to the operation implemented by the logic component. For example, the simulation sub-process may specifically include one or more simulation operations consisting of Fig.10 The operations implemented by any logical component in the component bar shown. In practical applications, simulation sub-processes of different granularities can be divided according to the types and quantities of simulation operations included in accordance with actual orchestration requirements. Generally speaking, coarser-grained simulation sub-processes contain a larger number and / or more types of simulation operations. Finer-grained simulation sub-processes contain a smaller number and / or fewer types of simulation operations. Different types of simulation operations can be understood as simulation operations implemented by different logical components.

[0151] In addition, a simulation sub-process may also include robot tasks and simulation operations other than robot tasks. For example, a simulation sub-process includes a combination of robot actions and a delay operation. Simulation operations include management operations on resources in the target operation area and logical operations performed in the business process. Among them, the resources in the target operation area may be robots, containers (such as shelves), etc. Management operations on resources in the target operation area include operations such as resource configuration, scheduling, and status judgment. Logical operations may include operations such as task triggering, number of cycles, delay, and task status judgment.

[0152] In some embodiments, the simulation operation includes at least one of a pre-scheduling operation, an annotation operation, a task triggering operation, a resource state judgment operation, a task state judgment operation, a container management operation, a delay operation, a loop operation, and a storage area management operation. The pre-scheduling operation is used to pre-schedule the robot to a preset position, the annotation operation is used to annotate the simulation business process, the task triggering operation is used to start the target business process, the resource state judgment operation is used to judge the number of empty storage locations or the number of non-empty storage locations in the target operation area, the task state judgment operation is used to judge the execution state of the target simulation sub-process, the container management operation is used to adjust the resource objects in the target operation area, the delay operation is used to indicate the target simulation sub-process to pause for a preset time, the loop operation is used to indicate the number of times the target simulation sub-process is sequentially executed, and the storage area management operation is used to adjust the location of the resource objects in the target area. Among them, the pre-scheduling operation, the task triggering operation, the task state judgment operation, the delay operation, and the loop operation belong to the logical operations performed in the business process, and the resource state judgment operation, the container management operation, and the storage area management operation belong to the management operations of the resources in the target operation area.

[0153] Different logical components implement different simulation operations, specifically: the pre-scheduling component implements pre-scheduling operations, the container management component implements resource adjustment configuration operations, the delay component implements delay operations, the task trigger component implements task trigger operations, the loop component implements loop operations, the annotation component implements annotation operations, the resource status judgment component implements resource status judgment operations, the task status judgment component implements task status judgment operations, the container management component implements container management operations, and the storage area management component implements storage area management operations.

[0154] It is understandable that the simulation sub-process is encapsulated in the node object. Later, when building the business process to be simulated, it is only necessary to select the target node object to perform the business orchestration operation. In this way, the user does not need to be familiar with the functions and underlying logic of the simulation software, which reduces the difficulty of building the business process.

[0155] S902: Determine a target business process to be simulated according to a business orchestration operation of a user.

[0156] The target business process includes a plurality of target simulation sub-processes that follow a target execution order. The business arrangement operation is used to select a target node object associated with the target simulation sub-process from a plurality of node objects, and to arrange the target execution order.

[0157] In some embodiments, the service orchestration operation includes: selecting a target node object from multiple node objects in the first area and dragging it to the second area, and moving the position of the target node object in the second area or connecting different target node objects.

[0158] For example, refer to Fig.11 ,exist Fig.11 In the case of the business editing interface in the example, in response to the operation of selecting and dragging the delayer and F01 twice and dragging them to the second area, the two delayers and F01 are displayed in the second area, and in response to the operation of selecting and dragging the generator and the pre-scheduler to the second area, the pre-scheduler and the generator are displayed in the second area. Further, in the second area, in response to the operation of connecting different target object nodes, the execution order of the target node objects is sorted to obtain the target business process. Subsequently, according to the position of each target node object and the connection relationship between different target node objects, the business process diagram is displayed in the second area to obtain the following: Fig.11 Business process diagram shown.

[0159] In some embodiments, the service orchestration operation includes: a click operation of selecting a target node object from a plurality of node objects in the first area, and an operation of moving the position of the target node object or connecting different target node objects in the second area.

[0160] For example, refer to Fig.11 , in the display Fig.11 In the case of the service editing interface in the example, in response to a single click or double click operation on the generator, the delayer and F01, the generator, the delayer and F01 are respectively displayed in the second area. Further, in the second area, the positions of the generator, the delayer and F01 are moved to determine the execution order of the generator, the delayer and F01.

[0161] It should be noted that the service orchestration operation is an operation of selecting a target node object and determining the execution order of each target node object. The embodiment of the present application does not limit the specific operation form of the service orchestration operation.

[0162] In some embodiments, Fig.11 As shown, Fig.11 The third area in the form includes three controls: OK, Check, and Cancel.

[0163] In some embodiments, when the target business process is determined, the target business process is simulated in response to the simulation operation. Further, when the simulation of the target business process is completed, a simulation result is generated and stored in a designated folder.

[0164] In other embodiments, when multiple target business processes are configured, the multiple target business processes are displayed, and in response to the selection operation of the target business process, the selected target business process is simulated. Further, when the simulation is finished, in response to the simulation report generation operation, a simulation report after data processing is generated in a specified folder.

[0165] For example, in the simulation interface, multiple target business processes are displayed: target business process 1, target business process 2, and target business process 3. In response to the check operation on target business process 1 and target business process 3, target business process 1 and target business process 3 are simulated. Alternatively, in response to the check operation on target business process 1, target business process 1 is simulated.

[0166] It should be noted that the designated folder may be a folder preset by the user, or may be a target folder selected by the user from a plurality of candidate folders, which is not limited in the embodiments of the present application.

[0167] The method for creating a simulation business process provided by the embodiment of the present application at least brings the following beneficial effects: in the simulation system, the simulation sub-process is pre-encapsulated into a node object. For the user, when creating a simulation business process, it is only necessary to select the target node object through the business arrangement operation, and arrange the execution order between the simulation sub-processes associated with the target node object, so as to complete the creation of the target business process. The user does not need to be familiar with the functions and underlying logical basis of the simulation system, thereby reducing the difficulty of creating a business process and improving the efficiency of creating a business process.

[0168] In one possible design, multiple target simulation sub-processes include a target robot task, and the creation method provided in the embodiment of the present application also includes: S903-S904.

[0169] S903. Display the robot configuration interface.

[0170] The robot configuration interface includes at least one robot type option.

[0171] As a possible implementation method, the electronic device displays a robot configuration interface in response to a robot configuration operation.

[0172] In some embodiments, the electronic device loads a robot resource library and displays at least one robot type in a robot configuration interface.

[0173] For example, in response to Fig.12 Select the "Robot Type" control in the robot configuration interface. The robot configuration interface is as follows: Fig.13 As shown, the robot configuration interface displays three robot types: automated guided vehicles (AGV), AMR robots, and picking robots.

[0174] S904: In response to the user's selection operation on the robot type option, determine the target type.

[0175] Among them, the target robot task in the target simulation process is executed through the robot simulation of the target type.

[0176] Exemplarily, in a case where an AGV, an AMR robot, and a picking robot are displayed, in response to a selection operation on an AMR robot, the AMR robot is determined as the target type.

[0177] It can be understood that at least one robot type is displayed through the robot configuration interface. The user only needs to select the robot type option and determine the target type, so as to quickly configure the robot without manually creating a robot of the target type, thereby improving the efficiency of robot configuration and further improving the efficiency of creating business processes.

[0178] In a possible design, the creation method provided in the embodiment of the present application also includes: S905.

[0179] S905: Receive the online number of robots of various target types input by the user in the robot configuration interface.

[0180] As a possible implementation method, when determining the target type of robot, the online number input by the user in the robot configuration interface is received to determine the online number of the target type of robot.

[0181] In some embodiments, in the case of determining the target type of robot, in response to Fig.12 Select the "Robot Resource" control in the middle to display the robot quantity configuration interface. Further, the online quantity input by the user in the robot configuration interface is received to determine the online quantity of the target type of robot. For example, if the target type of robot is an AMR robot, the online quantity 100 input by the user is received to determine that 100 AMR robots are online.

[0182] In other embodiments, when the target type of robot is determined, a robot quantity configuration box is displayed on the robot configuration interface, and the online quantity of the target type of robots is determined in response to a numerical value input by the user.

[0183] It should be noted that the number of target types can be one or more, and this embodiment of the present application does not specifically limit this.

[0184] In a possible design, the creation method provided in the embodiment of the present application also includes: S906-S907.

[0185] S906: Display a resource configuration interface.

[0186] Among them, the resource configuration interface includes multiple resource objects and a map of the target operation area. The resource objects represent storage resources that can be placed in the target operation area, and the map is used to present the resource placement points in the target operation area and the robot's movement channels.

[0187] As a possible implementation manner, the electronic device displays a resource configuration interface in response to a resource configuration operation.

[0188] In some embodiments, the electronic device loads the shelf resource library and displays multiple resource objects in the robot configuration interface.

[0189] For example, in response to Fig.12 Select the "Resource Type" control in the resource configuration interface to display the resource configuration interface.

[0190] The resource configuration interface in the embodiment of the present application displays at least one of a shelf type option, a workbench type option, and a sorting platform type option. For example, the resource configuration interface displays 10 shelf type options and 5 workbench type options. For another example, the resource configuration interface displays 10 shelf type options and 3 sorting platform type options.

[0191] In some embodiments, the resource objects include shelves, and different resource objects represent different types of shelves.

[0192] It should be noted that the resource object may also include a sorting table and / or a workbench, and the embodiment of the present application does not specifically limit the resources contained in the resource object.

[0193] In some embodiments, before displaying the resource configuration interface, the electronic device obtains map data in response to an import operation of map data, and displays a map of the target operation area according to the map data.

[0194] Exemplarily, the electronic device obtains the map data in response to the map data import operation, and displays a map of the target operation area according to the map data. The map of the target operation area is as follows: Fig.12 Further, in response to Fig.12 Select the "Map Configuration" control in the navigation pane to display the map configuration interface. Fig.12 In the figure, dots represent the space that the robot can pass through, and boxes represent resource objects.

[0195] In other embodiments, the electronic device displays the target working area in response to a map creation operation on the target working area.

[0196] S907: Determine resource configuration information of the target operation area according to the user's resource configuration operation.

[0197] The resource configuration operation is used to select a target resource object from a plurality of resource objects and bind the target resource object to a target point in a target operation area. The resource configuration information represents the resources placed in the target operation area.

[0198] As a possible implementation method, when displaying multiple resource objects, the electronic device determines the resource configuration information of the target operation area according to the resource configuration operation of the user.

[0199] In some embodiments, the resource configuration operation includes: selecting a target resource object from a plurality of resource objects and dragging it to a target location. For example, the electronic device configures a target shelf for the target location in response to selecting an identifier of a target shelf and dragging the identifier of the target shelf to the target location.

[0200] In some embodiments, the resource configuration operation includes: selecting multiple target points from the target operation area and selecting a target resource object from multiple resource objects. For example, in response to the electronic device selecting 10 target points from the target operation area and clicking on shelf A, shelf A is bound to the 10 target points.

[0201] In other embodiments, the resource configuration operation includes: selecting a target resource object from a plurality of resource objects and selecting a target point. For example, the electronic device responds to the operation of clicking shelf A and selects 10 target points from the target operation area, and binds shelf A to the 10 target points.

[0202] It can be understood that by displaying a map of multiple resource objects and target operation areas through the resource configuration interface, users only need to bind the resource objects to the target points, which can quickly realize the configuration of resource objects without manually creating resource objects, thereby improving the efficiency of resource object configuration and thus improving the efficiency of creating business processes.

[0203] In one design, before displaying the business editing interface, the creation method provided in the embodiment of the present application also includes: S908-S909.

[0204] S908. Display the node object configuration interface.

[0205] Among them, a plurality of preset robot task templates are displayed in the node object configuration interface, and a robot task template is associated with a task performed by a type of robot.

[0206] In some embodiments, the electronic device displays a node object configuration interface in response to a loading operation of the task module.

[0207] For example, in response to Fig.12 Select the "Task Template Configuration" control in the dialog box to display the node object configuration interface.

[0208] S909: In response to a user's selection operation on a target task template from a plurality of preset robot task templates, a node object is generated according to a task associated with the target task template.

[0209] As a possible implementation method, when displaying a node object configuration interface, the electronic device generates a node object according to the task associated with the target task template in response to the user's selection operation for a target task template from multiple preset robot task templates.

[0210] In some embodiments, the electronic device generates a node object according to the task associated with the target task template in response to a check operation on the target task template.

[0211] In other embodiments, the electronic device generates a node object according to the task associated with the target task template in response to a click operation on the target task template.

[0212] In some embodiments, the name of the node object may be randomly generated, may be generated according to a preset name rule, or may be set by a user, which is not limited in the embodiments of the present application.

[0213] In one design, before displaying the business editing interface, the creation method provided in the embodiment of the present application also includes: S910-S912.

[0214] S910. Display a node object configuration interface.

[0215] Among them, multiple preset robot actions are displayed in the node object configuration interface.

[0216] For example, a plurality of preset robot actions are taken as follows: moving, loading, unloading, grasping, assembling, spraying, testing and measuring. Fig.14 As shown, the node object configuration interface displays: Please select the actions to be combined: moving, loading, unloading, grabbing, assembling, spraying, testing and measuring.

[0217] S911. According to the user's action combination operation, the target robot actions selected by the user are combined in sequence to obtain a robot task.

[0218] As a possible implementation method, when displaying the node object configuration interface, the electronic device combines the target robot actions selected by the user in sequence according to the user's action combination operation to obtain the robot task.

[0219] In some embodiments, the electronic device displays the selected target robot action in response to the selection operation of the robot action. Further, the electronic device obtains the robot task in response to the sorting operation of the target robot.

[0220] Exemplarily, taking the node object configuration interface including an action selection area and a task setting area, and the target robot actions including move, move, load, and unload as an example, the action selection area displays multiple preset robot actions. The electronic device responds to the click operations of move, move, load, and unload in the action selection area in sequence, and displays move, move, load, and unload in the task setting area respectively. Further, the electronic device responds to the sorting operation of displaying move, move, load, and unload in the task setting area, obtains the sorted action combination: move, load, move, and unload, and uses the sorted action combination as the robot task.

[0221] In some embodiments, the electronic device sequentially responds to selected operations on the target robot action to obtain the robot task.

[0222] Exemplarily, the electronic device responds to the operations of moving, loading, moving, and unloading in sequence to obtain an action combination of moving, loading, moving, and unloading, and uses the action combination as a robot task.

[0223] In some embodiments, the electronic device determines the target position of the robot according to the action combination after acquiring the action combination of the robot. Subsequently, if the target position is incorrect, the target position is adjusted in response to the user's position adjustment operation.

[0224] For example, when the electronic device obtains the robot tasks as: moving, loading, moving, unloading, it determines that the robot tasks have two moving tasks: moving task 1 and moving task 2. Moving task 1: moving to storage area 1 to perform loading, and moving task 2: moving to the sorting station to perform unloading.

[0225] In some embodiments, the electronic device determines the moving position of the action combination in response to the user's position configuration operation on the robot's target position.

[0226] S912: Generate a node object according to the robot task.

[0227] In some embodiments, when the electronic device obtains a robot task, it generates a node object according to the robot task.

[0228] It can be understood that the robot actions to be simulated are pre-configured, and the user only needs to perform action combination operations on the target robot actions to obtain the robot task. In this way, the difficulty of creating robot actions is reduced and the efficiency of robot action configuration is improved. In addition, by combining multiple preset robot actions, different robot tasks can be obtained, which can simulate more business scenarios and cover more application scenarios. Furthermore, the robot's action combination will be encapsulated into a node object. When the user builds an industry scenario, the corresponding node object can be used for business orchestration operations to quickly obtain the target business process, which greatly reduces the code operation and user usage threshold.

[0229] In order to better understand the creation method provided in the embodiment of the present application, Fig.15 As shown, a process of creating a simulation business process is shown, including: S1501-S1508.

[0230] S1501, CAD diagram analysis, generating topology diagram.

[0231] In some embodiments, the electronic device parses the CAD image of the target operation area to generate a topological image of the target operation area.

[0232] S1502. Import a topology map to display a map of the target operation area.

[0233] In some embodiments, when the electronic device starts the simulation system, in response to an operation of importing a topological map of the target operation area into the simulation system, a map of the target operation area is generated and displayed based on the topological map of the target operation area.

[0234] S1503. Configure robot resources.

[0235] This step is detailed in S904-S906 above and will not be repeated here.

[0236] S1504: Configure shelf resources.

[0237] This step is detailed in S907-S908 above and will not be repeated here.

[0238] S1505: Generate a node object.

[0239] This step is detailed in S909-S910 or S911-S913 above, and will not be repeated here.

[0240] S1506: Determine the target business process to be simulated.

[0241] For details of this step, please refer to steps S901-S902, which will not be repeated here.

[0242] S1507. Execute the target business process.

[0243] In some embodiments, when the target business process is determined, the number of online robots is determined in response to a configuration operation of the number of simulation robots, and simulation is started based on the target business process and the number of robots.

[0244] Exemplarily, in response to the configuration operation of the actual online robots, a robot quantity configuration window is displayed, and in response to the input value, the actual number of online robots is determined.

[0245] S1508. Generate a simulation report.

[0246] For details of this step, please refer to the content recorded in step S902, which will not be repeated here.

[0247] It can be understood that by performing simulation operations in a simulation environment to obtain simulation results, the feasibility of the logistics planning scheme can be verified, potential problems can be discovered and solved, and the implementation efficiency of the scheme can be improved, thereby improving the feasibility of the scheme.

[0248] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy to realize that the technical goals in this field are combined with the units and algorithm steps of each example described in the embodiments disclosed in this article, and 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 goals 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 this application.

[0249] In an exemplary embodiment, the present application also provides a device for creating a simulated business process. Fig.16 Schematic diagram of the composition of the creation device 40 provided in the embodiment of the present application. Fig.16 As shown, the creating device 40 includes: a display unit 401 and a determining unit 402 .

[0250] The display unit 401 is used to display a business editing interface, which includes multiple node objects, and the node objects are associated with pre-packaged simulation sub-processes. The simulation sub-process includes robot tasks and / or simulation operations other than robot tasks. The robot task represents a task performed by the robot.

[0251] The determination unit 402 is used to determine the target business process to be simulated according to the business arrangement operation of the user, wherein the target business process includes multiple target simulation sub-processes following the target execution order. The business arrangement operation is used to select a target node object associated with the target simulation sub-process from multiple node objects, and to arrange the target execution order.

[0252] In a possible implementation, the service editing interface includes a first area and a second area, and multiple node objects are displayed in the first area. The service arrangement operation includes: selecting a target node object from multiple node objects in the first area and dragging it to the second area. Moving the position of the target node object in the second area or connecting different target node objects.

[0253] In a possible implementation, the display unit 401 is further configured to: display the business process diagram in the second area according to the position of each target node object and the connection relationship between different target node objects.

[0254] In a possible implementation, the plurality of target simulation sub-processes include a target robot task, and the display unit 401 is further used to display a robot configuration interface, the robot configuration interface including at least one robot type option. The determination unit 402 is further used to determine the target type in response to a user's selection operation on the robot type option. The target robot task in the target simulation process is executed by a robot simulation of the target type.

[0255] In one possible implementation, Fig.16 As shown, the creation device 40 further includes: a receiving unit 403. The receiving unit 403 is used to receive the online number of robots of various target types input by the user in the robot configuration interface.

[0256] In a possible implementation, the display unit 401 is also used to display a resource configuration interface, which includes multiple resource objects and a map of the target operation area. The resource objects represent storage resources that can be placed in the target operation area, and the map is used to present resource placement points in the target operation area and the robot's movement channel. The determination unit 402 is also used to determine the resource configuration information of the target operation area according to the user's resource configuration operation. The resource configuration operation is used to select a target resource object from multiple resource objects and bind the target resource object to a target point in the target operation area. The resource configuration information represents the resources placed in the target operation area.

[0257] In a possible implementation, the resource configuration operation includes: selecting a target resource object from a plurality of resource objects and dragging the object to a target location.

[0258] In a possible implementation, the resource object includes a shelf for carrying goods, and the robot task is to move the shelf or arrange the shelf by the robot. Different resource objects represent different types of shelves.

[0259] In one possible implementation, Fig.16 As shown, the creation device 40 further includes: a processing unit 404. The display unit 401 is further used to display a node object configuration interface, 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. The processing unit 404 is used to generate a node object according to the task associated with the target task template in response to a user's selection operation for a target task template among the plurality of preset robot task templates.

[0260] In a possible implementation, the display unit 401 is further used to display a node object configuration interface, in which a plurality of preset robot actions are displayed. The processing unit 404 is further used to combine the target robot actions selected by the user in sequence according to the user's action combination operation to obtain a robot task. The processing unit 404 is further used to generate a node object according to the robot task.

[0261] In a possible implementation, simulation operations other than robot tasks include: at least one of: pre-scheduling operation, annotation operation, task triggering operation, resource status judgment operation, task status judgment operation, container management operation, delay operation, loop operation and storage area management operation. The pre-scheduling operation is used to pre-schedule the robot to a preset position, the annotation operation is used to annotate the simulation business process, the task triggering operation is used to start the target business process, the resource status judgment operation is used to judge the number of empty storage locations or non-empty storage locations in the target operation area, the task status judgment operation is used to judge the execution state of the target simulation sub-process, the container management operation is used to adjust the resource objects in the target operation area, the delay operation is used to indicate the target simulation sub-process to pause for a preset time, the loop operation is used to indicate the number of times the target simulation sub-process is sequentially executed, and the storage area management operation is used to adjust the location of the resource objects in the target area.

[0262] 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-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer-executable 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 computer-readable storage medium can be any available medium that a computer can access 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 may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a solid state disk (SSD), etc.

[0263] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the present application for which protection is sought, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the term "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple components. A single processor or other unit may implement several functions listed in a claim. Certain measures are recorded in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0264] 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.

[0265] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for creating a simulation business process, characterized in that: The method comprises: Displaying a business editing interface, the business editing interface includes a plurality of node objects, the node objects are associated with pre-packaged simulation sub-processes; the simulation sub-processes include robot tasks and / or simulation operations other than the robot tasks; the robot tasks represent tasks performed by the robot; According to the user's business orchestration operation, a target business process to be simulated is determined, and the target business process includes multiple target simulation sub-processes that follow a target execution order; the business orchestration operation is used to select a target node object associated with the target simulation sub-process from the multiple node objects, and to orchestrate the target execution order.

2. The method for creating a simulation business process according to claim 1, characterized in that: The business editing interface includes a first area and a second area, and the plurality of node objects are displayed in the first area; The service arrangement operation includes: An operation of selecting the target node object from the plurality of node objects in the first area and dragging the target node object to the second area; and / or, operations of moving the position of the target node object in the second area and connecting different target node objects.

3. The method for creating a simulation business process according to claim 2, characterized in that: The method further comprises: The business process diagram is displayed in the second area according to the position of each of the target node objects and the connection relationship between different target node objects.

4. The method for creating a simulation business process according to any one of claims 1 to 3, characterized in that: The plurality of target simulation sub-processes include target robot tasks, and the method further includes: Displaying a robot configuration interface, wherein the robot configuration interface includes at least one robot type option; In response to the user's selection operation on the robot type option, a target type is determined; the target robot task in the target simulation process is executed through the robot simulation of the target type.

5. The method for creating a simulated business process according to claim 4, characterized in that: The method further comprises: Receive the online number of robots of various target types input by the user in the robot configuration interface.

6. The method for creating a simulation business process according to any one of claims 1 to 3, characterized in that: The method further comprises: Displaying a resource configuration interface, the resource configuration interface including a plurality of resource objects and a map of a target operation area, the resource objects representing storage resources that can be placed in the target operation area, the map being used to present resource placement points in the target operation area and a moving channel of the robot; The resource configuration information of the target operation area is determined according to the user's resource configuration operation, wherein the resource configuration operation is used to select a target resource object from the multiple resource objects and bind the target resource object to a target point in the target operation area; the resource configuration information represents the resources placed in the target operation area.

7. The method for creating a simulation business process according to claim 6, characterized in that: The resource configuration operation includes: selecting a target resource object from the multiple resource objects and dragging the object to the target location.

8. The method for creating a simulated business process according to claim 6, characterized in that: The resource object includes a shelf for carrying goods; the robot task is a task of moving the shelf or arranging the shelf by the robot; different resource objects represent different types of shelves.

9. The method for creating a simulated business process according to claim 1, characterized in that: Before displaying the service editing interface, the method further includes: Displaying a node object configuration interface, wherein the node object configuration interface displays a plurality of preset robot task templates, wherein one of the robot task templates is associated with a task to be performed by a type of robot; In response to a user's selection operation on a target task template among the plurality of preset robot task templates, the node object is generated according to the task associated with the target task template.

10. The method for creating a simulated business process according to claim 1, characterized in that: Before displaying the service editing interface, the method further includes: Displaying a node object configuration interface, wherein the node object configuration interface displays a plurality of preset robot actions; According to the user's action combination operation, the target robot actions selected by the user are combined in sequence to obtain the robot task; The node object is generated according to the robot task.

11. The method for creating a simulated business process according to claim 1, characterized in that: The simulation operations other than the robot tasks include: at least one of: a pre-scheduling operation, an annotation operation, a task triggering operation, a resource status judgment operation, a task status judgment operation, a container management operation, a delay operation, a loop operation and a storage area management operation; the pre-scheduling operation is used to pre-schedule the robot to a preset position, the annotation operation is used to annotate the simulation business process, the task triggering operation is used to start the target business process, the resource status judgment operation is used to judge the number of empty storage locations or the number of non-empty storage locations in the target operating area, the task status judgment operation is used to judge the execution status of the target simulation sub-process, the container management operation is used to adjust the resource objects in the target operating area, the delay operation is used to indicate that the target simulation sub-process is paused for a preset period of time, the loop operation is used to indicate the number of times the target simulation sub-process is sequentially executed, and the storage area management operation is used to adjust the location of the resource objects in the target area.

12. A device for creating a simulated business process, characterized in that: The creation device includes: a display unit and a determination unit; The display unit is used to display a business editing interface, wherein the business editing interface includes a plurality of node objects, wherein the node objects are associated with pre-packaged simulation sub-processes; the simulation sub-processes include robot tasks and / or simulation operations other than the robot tasks; the robot tasks represent tasks performed by the robot; The determination unit is used to determine the target business process to be simulated according to the user's business orchestration operation, and the target business process includes multiple target simulation sub-processes that follow the target execution order; the business orchestration operation is used to select a target node object associated with the target simulation sub-process from the multiple node objects, and to orchestrate the target execution order.

13. The device for creating a simulated business process according to claim 12, characterized in that: The creation device also includes: a receiving unit and a processing unit; The service editing interface includes a first area and a second area, and the plurality of node objects are displayed in the first area; the service arrangement operation includes: An operation of selecting the target node object from the plurality of node objects in the first area and dragging the target node object to the second area; and / or, operations of moving the position of the target node object in the second area and connecting different target node objects; Or, the display unit is further used to display the business process diagram in the second area according to the position of each of the target node objects and the connection relationship between different target node objects; Or, the multiple target simulation sub-processes include a target robot task, and the display unit is further used to display a robot configuration interface, wherein the robot configuration interface includes at least one robot type option; The determination unit is further configured to determine a target type in response to a user's selection operation on the robot type option; the target robot task in the target simulation process is executed by simulating a robot of the target type; Or, the receiving unit is used to receive the online number of robots of various target types input by the user on the robot configuration interface; Or, the display unit is further used to display a resource configuration interface, the resource configuration interface includes a plurality of resource objects and a map of a target operation area, the resource objects represent storage resources that can be placed in the target operation area, and the map is used to present resource placement points in the target operation area and a moving channel of the robot; The determining unit is further used to determine resource configuration information of the target operation area according to a resource configuration operation of a user, wherein the resource configuration operation is used to select a target resource object from the multiple resource objects and bind the target resource object to a target point in the target operation area; the resource configuration information represents resources placed in the target operation area; Or, the resource configuration operation includes: selecting a target resource object from the multiple resource objects and dragging the object to the target location; Or, the resource object includes a shelf for carrying goods; the robot task is a task of carrying the shelf or arranging the shelf by the robot; different resource objects represent different types of shelves; Or, the display unit is further used to display a node object configuration interface, wherein a plurality of preset robot task templates are displayed in the node object configuration interface, and one of the robot task templates is associated with a task performed by a type of robot; The processing unit is used to generate the node object according to the task associated with the target task template in response to the user's selection operation on the target task template among the plurality of preset robot task templates; Or, the display unit is further used to display a node object configuration interface, wherein the node object configuration interface displays a plurality of preset robot actions; The processing unit is further used to combine the target robot actions selected by the user in sequence according to the user's action combination operation to obtain the robot task; The processing unit is further used to generate the node object according to the robot task; Or, the simulation operations other than the robot task include: at least one of: a pre-scheduling operation, an annotation operation, a task triggering operation, a resource status judgment operation, a task status judgment operation, a container management operation, a delay operation, a loop operation and a storage area management operation; the pre-scheduling operation is used to pre-schedule the robot to a preset position, the annotation operation is used to annotate the simulation business process, the task triggering operation is used to start the target business process, the resource status judgment operation is used to judge the number of empty storage locations or the number of non-empty storage locations in the target operating area, the task status judgment operation is used to judge the execution status of the target simulation sub-process, the container management operation is used to adjust the resource objects in the target operating area, the delay operation is used to indicate that the target simulation sub-process is paused for a preset period of time, the loop operation is used to indicate the number of times the target simulation sub-process is sequentially executed, and the storage area management operation is used to adjust the location of the resource objects in the target area.

14. An electronic device, characterized in that: include: Processor and memory; The memory stores instructions executable by the processor; When the processor is configured to execute the instructions, the electronic device implements the method according to any one of claims 1 to 11.

15. A readable storage medium, characterized in that: The readable storage medium includes: software instructions; When the software instructions are executed in an electronic device, the electronic device implements the method according to any one of claims 1 to 11.

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