Multi-workstation and robot collaborative scheduling method and system for molecular sieve synthesis

Abstract

The invention relates to the field of intelligent control, and discloses a multi-workstation and robot collaborative scheduling method and system for molecular sieve synthesis. Each work station can realize operation of one process in different synthesis formulas and is configured with different operation time for different formulas. The collaborative scheduling method applied to the work station side comprises the following steps: receiving a synthesis request about a target synthesis task sent by a root work station; if the work station with the capacity of executing the target process exists, the work station predicts the time point of completing the target synthesis task and feeds back the time point to the root work station; and after the synthesis request allocated by the root workstation is received, the workstation with the earliest time point inserts the target synthesis task into a task list of the workstation according to a priority sequence, and executes the synthesis task with the highest priority in the task list, so that multi-body collaborative scheduling is realized by adopting a distributed control method. And flexible distribution of molecular sieve synthesis tasks of multiple process formulas and multiple processes is realized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control, and particularly to a multi-workstation and robot collaborative scheduling method and system for molecular sieve synthesis. Background Art

[0002] Molecular sieves are one of the most widely used catalytic materials in the energy and chemical industry. The development of molecular sieves for industrial applications is a complex and multi-factor intertwined systematic project. The traditional R & D process uses a trial-and-error method, which is time-consuming, laborious and has a long cycle. Automated synthesis equipment has characteristics such as high throughput, and it is an important tool for improving R & D efficiency, shortening R & D time and reducing R & D costs.

[0003] Currently, in the field of laboratory automation, the control system mainly adopts a centralized method. The centralized method mainly relies on a central management node with strong computing power to process a large amount of complex internal laboratory information and chemical experiment data, and realizes the scheduling and control of all equipment inside the automated laboratory through a planning algorithm. The centralized method overly relies on the central management node. Once the central management node breaks down, the laboratory will be unable to continue the synthesis task. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-body collaborative scheduling system, scheduling method, workstation and robot, which adopt a distributed control method to achieve multi-body collaborative scheduling. Specifically, by utilizing the perception, communication and decision-making capabilities of workstations and robots involved in different synthesis processes, through a task allocation method, efficient collaboration of distributed self-organization is achieved, and flexible allocation of molecular sieve synthesis tasks with multiple process recipes and multiple processes is realized.

[0005] To achieve the above object, a multi-body collaborative scheduling method for molecular sieve synthesis is provided in the first aspect of the present invention, which is applied to the workstation side. Multiple workstations on the workstation side cooperate with each other to implement different synthesis formulas. Each workstation can implement the operation of one process in the different synthesis formulas and is configured with different operation times for different synthesis formulas. The multi-body collaborative scheduling method includes: receiving a first synthesis request sent by a root workstation, where the first synthesis request includes a first target synthesis task, the priority of the first target synthesis task, and the target process under the target synthesis formula in the first target synthesis task; determining whether there is the ability to execute the target process; if there is a workstation with the ability to execute the target process, then the workstation with the ability to execute the target process predicts the time point for completing the first target synthesis task according to the operation times and priorities of multiple synthesis tasks in the task list and the operation times and priorities of the first target synthesis task, and feeds back the time point to the root workstation; and the workstation with the first earliest time point receives the first synthesis request assigned by the root workstation; and the workstation with the first earliest time point inserts the first target synthesis task into its task list in the order of priority and executes the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the target process under the synthesis formula in the synthesis task with the first priority, where the first priority is the highest priority.

[0006] Through the above technical solution, the present invention adopts a distributed control method to achieve multi-body collaborative scheduling. Specifically, workstations involved in different synthesis processes are used to achieve efficient cooperation of distributed self-organization through a task allocation method, and flexible allocation of molecular sieve synthesis tasks with multiple process formulas and multiple processes is realized.

[0007] The second aspect of the present invention provides a multi-body collaborative scheduling method for molecular sieve synthesis, which is applied to the root workstation side. The multi-body collaborative scheduling method includes: sending a synthesis request to the multiple workstations, where the multiple workstations cooperate with each other to implement different synthesis recipes, each workstation can implement the operation of one process in the different synthesis recipes and is configured with different operation times for different synthesis recipes, and where the synthesis request includes: the material taking position of the molecular sieve experimental sample, the target synthesis task, the priority of the target synthesis task, and the target process under the target synthesis recipe in the target synthesis task; and in response to the time point at which the workstation capable of executing the target process among the multiple workstations completes the execution of the target synthesis task in the order of priority according to the operation times and priorities of the multiple synthesis tasks in the task list and the operation times and priorities of the target synthesis task, allocating the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in the order of priority and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority, where the first priority is the highest priority.

[0008] Through the above technical solution, the present invention adopts a fully distributed collaboration and path conflict resolution method. The collaboration process does not rely on central node scheduling, and realizes the flexible allocation of the molecular sieve synthesis tasks of multiple process recipes and multiple processes.

[0009] The third aspect of the present invention provides a multi-body collaborative scheduling method for molecular sieve synthesis, which is applied to the robot side. The robot side is configured with multiple robots. The multi-body collaborative scheduling method includes: receiving a first handling request sent by the first workstation for the target process under the synthesis recipe in the synthesis task, where the first handling request includes the molecular sieve experimental sample to be used in the target process, the material taking position and the feeding position of the molecular sieve experimental sample; judging whether itself is in an idle state; the robot in the idle state determines the first duration required for the handling task according to the material taking position and the feeding position of the molecular sieve experimental sample and its own position, and feeds back the first duration to the first workstation; and the robot with the shortest first duration receives the first handling request allocated by the first workstation, and transports the molecular sieve experimental sample from the material taking position to the feeding position, so that the first workstation executes the target process under the synthesis recipe in the synthesis task for the molecular sieve experimental sample.

[0010] Through the above technical solution, the present invention creatively utilizes the perception, communication and decision-making capabilities of the robot to reduce communication resource consumption, realize the transfer of samples between different workstations, and further realize the flexible allocation of the molecular sieve synthesis tasks with multiple process recipes and multiple processes.

[0011] The fourth aspect of the present invention provides a multi-body collaborative scheduling system for molecular sieve synthesis, which is applied to the workstation side. A plurality of workstations on the workstation side cooperate with each other to implement different synthesis recipes. Each workstation can implement the operation of one process in the different synthesis recipes and is configured with different operation times for different synthesis recipes. The multi-body collaborative scheduling system includes: a receiving device configured to receive a first synthesis request sent by a root workstation, where the first synthesis request includes a first target synthesis task, the priority of the first target synthesis task, and a target process under a target synthesis recipe in the first target synthesis task; a judging device configured to judge whether it has the ability to execute the target process; and a control device configured to, in the case that there is a workstation having the ability to execute the target process, control the workstation having the ability to execute the target process to execute: predicting the time point for completing the first target synthesis task in the order of priority according to the operation times and priorities of multiple synthesis tasks in the task list and the operation time and priority of the first target synthesis task, and feeding back the time point to the root workstation; receiving the first synthesis request allocated by the root workstation; and inserting the first target synthesis task into its task list in the order of priority, and executing the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority, where the first priority is the highest priority.

[0012] The fifth aspect of the present invention provides a multi-body collaborative scheduling system for molecular sieve synthesis, which is applied to the root workstation side. The multi-body collaborative scheduling system includes: a sending device configured to send a synthesis request to the multiple workstations, where the multiple workstations cooperate with each other to implement different synthesis formulas, each workstation can implement the operation of one process in the different synthesis formulas and is configured with different operation times for different synthesis formulas, and where the synthesis request includes: the material taking position of the molecular sieve experimental sample, the target synthesis task, the priority of the target synthesis task, and the target process under the target synthesis formula in the target synthesis task; and an allocation device configured to, in response to the time point at which the workstation capable of executing the target process among the multiple workstations completes the execution of the target synthesis task in the order of priority according to the operation times and priorities of the multiple synthesis tasks in the task list and the operation times and priorities of the target synthesis task, allocate the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in the order of priority and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis formula in the synthesis task with the first priority, where the first priority is the highest priority.

[0013] The sixth aspect of the present invention provides a multi-body collaborative scheduling system for molecular sieve synthesis, which is applied to the robot side. The robot side is configured with multiple robots. The multi-body collaborative scheduling system includes: a receiving device configured to receive a first handling request sent by a first workstation for the target process under the synthesis formula in the synthesis task, where the first handling request includes the molecular sieve experimental sample to be used in the target process, the material taking position and the feeding position of the molecular sieve experimental sample; a judging device configured to judge whether itself is in an idle state; and a control device configured to control the robot in the idle state to determine the first duration required for the handling task according to the material taking position and the feeding position of the molecular sieve experimental sample and its own position, and feedback the first duration to the first workstation. The control device is further configured to control the robot with the shortest first duration to receive the first handling request allocated by the first workstation and transport the molecular sieve experimental sample from the material taking position to the feeding position, so that the first workstation executes the target process under the synthesis formula in the synthesis task for the molecular sieve experimental sample.

[0014] For the specific details and benefits of the multi-body collaborative scheduling system for molecular sieve synthesis provided by the embodiments of the present invention, reference may be made to the above description of the corresponding multi-body collaborative scheduling method for molecular sieve synthesis, which will not be elaborated herein.

[0015] The seventh aspect of the present invention provides a workstation, which includes: a memory that stores instructions; and a processor configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis.

[0016] The eighth aspect of the present invention provides a root workstation, which includes: a memory that stores instructions; and a processor configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis.

[0017] The ninth aspect of the present invention provides a robot, which includes: a memory that stores instructions; and a processor configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis.

[0018] The tenth aspect of the present invention provides a machine-readable storage medium, on which instructions are stored for causing a machine to execute the multi-body collaborative scheduling method for molecular sieve synthesis.

[0019] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. They are used together with the following specific implementation to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0021] Figure 1 is a schematic diagram of a multi-body collaborative scheduling system provided by an embodiment of the present invention;

[0022] Figure 2 is a flowchart of a multi-body collaborative scheduling method for molecular sieve synthesis applicable to a workstation provided by an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of a multi-body collaborative scheduling process provided by an embodiment of the present invention;

[0024] Figure 4 is a flowchart of a multi-body collaborative scheduling method for molecular sieve synthesis applicable to a root workstation provided by an embodiment of the present invention;

[0025] Figure 5 is a flowchart of a multi-body collaborative scheduling method for molecular sieve synthesis applicable to a robot provided by an embodiment of the present invention;

[0026] Figure 6 is a schematic diagram of the forces acting on a robot provided by an embodiment of the present invention; and

[0027] Figure 7 It is a flowchart of the interaction process in the multi-agent collaborative scheduling method provided by an embodiment of the present invention. Detailed implementation manners

[0028] The following will describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0029] The present invention proposes a collaborative scheduling method for multiple workstations and robots in molecular sieve synthesis. Taking the workstation as the main initiator of the synthesis task and handling task in the laboratory, it realizes the rapid allocation and execution of tasks through communication and cooperation with surrounding workstations and robots, improving the flexibility and automation level of the experimental synthesis system. Specifically, the present invention will focus on a modular flexible synthesis laboratory including multiple workstations and robots, and study the distributed task allocation process of each of the above workstations and robots. The application of the multi-agent cooperation method in the present invention will realize the flexible synthesis of multiple process recipes and the flexible transfer of samples between processes, greatly improving the experimental flexibility and expandability of the laboratory.

[0030] Figure 1 It is a communication topology diagram between each workstation and the robot in the molecular sieve synthesis process provided by the present invention. This topology diagram includes three types of nodes with communication decision-making capabilities, namely the root workstation 10, the workstation 20, and the robot 30. Among them, the root workstation 10 is linked to other nodes through a communication network; the workstation 20 and the robot 30 communicate and share information through local self-organization links. Among them, the root workstation 10 maintains real-time communication with the workstation 20 and the robot 30 through communication technologies such as industrial field buses, and each workstation 20 communicates with each other through communication technologies such as industrial field buses; the workstation 20 and the robot 30 realize local information interaction through communication technologies such as Bluetooth or WLAN, thus constituting the information network architecture of the flexible laboratory for molecular sieve synthesis and providing a communication basis for the synthesis task.

[0031] Among them, Figure 1 the root workstation in can be the central management node or any one of the multiple workstations (such as the workstation 20). Among them, the multiple workstations communicate through an industrial field bus.

[0032] Figure 2 It is a multi-agent collaborative scheduling method for molecular sieve synthesis provided by an embodiment of the present invention. This multi-agent collaborative scheduling method can be applied to the workstation side. The multiple workstations on the workstation side cooperate with each other to realize different synthesis recipes. Each workstation can implement the operation of one process in the different synthesis recipes and is configured with different operation times for different synthesis recipes.

[0033] For example, a flexible laboratory for molecular sieve synthesis can carry out molecular sieve synthesis according to three different synthesis formulas (i.e., molecular sieve experiment formulas) (F1, F2, F3). Each formula has three processes (P1, P2, P3) that need to be operated in sequence. The synthesis processes of different formulas are shown in Table 1. If it is defined that there are 7 workstations in the laboratory, then each workstation is responsible for the synthesis of a certain process, and the operation time for the same process of different formulas is different. The specific parameters of the workstations are shown in Table 2. It is defined that there are 2 isomorphic mobile robots (A1, A2) in the workshop, and each robot can carry experimental samples between different synthesis processes of different formulas. There are still some synthesis tasks of other formulas that have not been completed in the current laboratory. Here, a synthesis task ID is defined as Tn. Each synthesis task can be represented by (Tn, Fi).

[0034] In the cooperation method of each workstation and robot in the present invention, it includes a synthesis task allocation method, a sample handling task method, and a robot path conflict resolution method.

[0035] Table 1 Formula Categories and Processes

[0036] Recipe type F1 F2 F3 Synthesis process P1->P2->P3 P2->P1->P3 P1->P3->P2

[0037] Table 2 Parameters of Workstations

[0038]

[0039] Such as Figure 2As shown in the figure, the multi-body collaborative scheduling method includes: Step S201, receiving a first synthesis request sent by the root workstation, where the first synthesis request includes: a first target synthesis task, the priority of the first target synthesis task, and the target process under the target synthesis recipe in the first target synthesis task; Step S202, determining whether it has the ability to execute the target process; Step S203, if there is a workstation with the ability to execute the target process, the workstation with the ability to execute the target process predicts the time point for completing the first target synthesis task in the order of priority according to the operation times and priorities of multiple synthesis tasks in the task list and the operation time and priority of the first target synthesis task, and feeds back the time point to the root workstation; and Step S204, the workstation with the first earliest time point receives the first synthesis request assigned by the root workstation; Step S205, the workstation with the first earliest time point inserts the first target synthesis task into its task list in the order of priority, and executes the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority, where the first priority is the highest priority.

[0040] The following explains and illustrates each of the above steps executed by the workstation.

[0041] Step S201, receiving a first synthesis request sent by the root workstation.

[0042] Among them, the first synthesis request includes: a first target synthesis task, the priority of the first target synthesis task, and the target process under the target synthesis recipe in the first target synthesis task.

[0043] For example, a batch of synthesis tasks is generated, which contains multiple different types of synthesis recipes, as shown in Table 3.

[0044] Table 3 Parameter information of each task in the task list

[0045] Task ID T11 T12 T13 T14 T15 T16 T17 Recipe type F2 F3 F3 F2 F1 F1 F2 Priority 7 6 5 4 3 2 1

[0046] Among them, the priorities of each synthesis task are different.

[0047] The root workstation sends multiple synthesis requests to multiple workstations in the laboratory in order of task priority from high to low for the task information to be synthesized. Taking the task ID = T11 as an example, the root workstation (such as the central management node) sends a synthesis request of (T11, F2, P2) to 7 workstations, and the synthesis request may include: the target synthesis task - (T11, F2), the priority of the target synthesis task - 9, and the target process P2 under the target synthesis formula F2. Wherein the target synthesis task includes the target synthesis task ID and the target synthesis formula F2.

[0048] Step S202, determine whether it has the ability to execute the target process.

[0049] Upon receiving the synthesis request, each workstation determines whether it can implement the target process P2.

[0050] Step S203, if there is a workstation that has the ability to execute the target process, the workstation that has the ability to execute the target process predicts the time point for completing the first target synthesis task in order of priority according to the operation time and priority of multiple synthesis tasks in the task list and the operation time and priority of the first target synthesis task, and feeds back the time point to the root workstation.

[0051] Correspondingly, workstations M21, M22, M23, M24 (as can be seen from Table 2) that can implement process P2 calculate the estimated completion time of P2 under (T11, F2) according to the time consumption of tasks with priorities higher than (T11, F2) to be completed in their respective current task lists and the time consumption of P2 under (T11, F2), and send it to the root workstation (such as the central management node), as shown in Table 4.

[0052] Table 4 Estimated completion time of process P2 under (T11, F2) for each workstation

[0053] Workstation M21 M22 M23 M24 Estimated completion time for task (T11,F2) 84 91 93 89

[0054] The root workstation (such as the central management node) preferentially assigns the synthesis task to the workstation with the closest completion time point according to the time points fed back by each workstation, and sends the confirmed synthesis task information to the workstation. It can be obtained from Table 4 that process P2 under the (T11, F2) synthesis task will be completed by M21.

[0055] Step S204, the workstation with the first earliest time point receives the first synthesis request assigned by the root workstation.

[0056] That is to say, workstation M21 receives the confirmed synthesis task information.

[0057] In step S205, the workstation with the first earliest time point inserts the first target synthesis task into its task list in the order of priority, and executes the synthesis task with the first priority in the task list to obtain the zeolite experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority, where the first priority is the highest priority.

[0058] After receiving the confirmed synthesis task information, workstation M21 inserts the task into the task list in the order of priority and recalculates the expected completion time point of each task; while the workstations that do not receive the confirmation information maintain their original states. The task lists before and after M21 receives task T11 are shown in Table 5 below.

[0059] Table 5 Comparison table of the task list of M21

[0060]

[0061] Then, M21 determines the experimental sample according to the priority order of the synthesis task and allocates the handling tasks, including the following steps.

[0062] Among them, the workstation with the first earliest time point executing the synthesis task with the first priority in the task list includes: determining a first handling request according to the synthesis task with the first priority, and sending the first handling request to multiple robots, where the first handling request includes the zeolite experimental sample to be used in the target process under the synthesis recipe in the synthesis task with the first priority, the picking position and the feeding position of the zeolite experimental sample; in response to the first duration required for the handling task fed back by the robots in the idle state among the multiple robots according to the picking position and the feeding position of the zeolite experimental sample and their own positions, allocating the first handling request to the robot with the shortest first duration; and in response to the robot with the shortest first duration transporting the zeolite experimental sample from the picking position to the feeding position, executing the synthesis task with the first priority for the zeolite experimental sample.

[0063] Specifically, first, M21 reads the synthesis tasks in its own task list, determines that the priority of (T1, F2) is the highest from Table 5, and sends the handling request information of this task to the robots moving around through the local area network. Among them, the handling request may include the zeolite experimental sample to be used in (T1, F2, P2), the picking position and the feeding position of the zeolite experimental sample.

[0064] Then, the robots in the idle state (taking A1 and A2 as examples) calculate the time required for the handling task based on information such as their own positions, the material taking positions, and the material delivering positions after receiving the handling request information, and send the estimated completion time as the return information to M21. Now, assume that M21 receives the robot numbers in the idle state and the estimated completion time for the handling task as shown in Table 6 below.

[0065] Table 6 Completion Time of the T1 Handling Task by the Mobile Robots in the Idle State

[0066]

[0067] Next, M21 preferentially selects the robot with the shortest completion time (such as A2) according to the feedback time, and sends the confirmed handling task information to robot A2.

[0068] Furthermore, after receiving the confirmed handling task information, A2 transports the sample from the discharging area of the previous process workstation / the storage area of the laboratory to the feeding area of the corresponding workstation (M21) of the current process. The robot (A1) that does not receive the confirmed handling task information within a certain time will continue to wait for requests for other handling tasks.

[0069] Finally, in the case where A2 transports the molecular sieve sample to the feeding area of M21, M21 performs the process P2 under the synthesis task of (T1, F2) for the molecular sieve experimental sample. The specific implementation process can be carried out by any existing method, and will not be elaborated here.

[0070] After workstation M21 completes this recipe process, it performs the next synthesis task allocation operation.

[0071] In one embodiment, after executing the synthesis task with the first priority in the task list (i.e., step S205), the multi-body collaborative scheduling method further includes: the workstation with the first earliest time point determines whether all processes in the synthesis formula of the synthesis task with the first priority have been executed on the molecular sieve experimental sample; in the case that all processes have not been executed on the molecular sieve experimental sample, the workstation with the first earliest time point sends a second synthesis request to other workstations among the multiple workstations, where the second synthesis request includes: a second target synthesis task, the priority of the second target synthesis task, and the next process of the target process under the synthesis formula of the synthesis task with the first priority included in the second target synthesis task; in response to the second synthesis request sent by the workstation with the first earliest time point, it is determined whether there is a workstation capable of executing the next process; if there is a workstation capable of executing the next process, the workstation capable of executing the next process predicts the time point for completing the second target synthesis task in the order of priority according to the operation time and priority of the multiple synthesis tasks in the task list and the operation time and priority of the second target synthesis task, and feeds back the time point to the workstation with the first earliest time point; and in response to the workstation with the first earliest time point allocating the second synthesis request to the workstation with the second earliest time point, the workstation with the second earliest time point inserts the second target synthesis task into its task list in the order of priority and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the next process in the synthesis formula of the synthesis task with the first priority.

[0072] Specifically, first, it is determined whether the experimental sample processed by (T1, F2, P2) has completed all processes. If it has been completed, the scheduling robot will transport the sample to the finished product area and end the synthesis task; otherwise, a task request for the next process of the sample will be sent to other surrounding workstations. From the data in Table 1, it can be seen that the next process of process P2 in formula F2 is P1, which indicates that the experimental sample processed by (T1, F2, P2) has not completed all processes, so a new synthesis request for the next process (T1, F2, P1) of the sample is sent to other surrounding workstations. Among them, the new synthesis request includes (T1, F2), the priority of the second target synthesis task (for example, 11), and the target process P1. Of course, the second synthesis request may also include: the picking position of the molecular sieve experimental sample processed by the target process under the synthesis formula in the synthesis task with the first priority. Specifically, the new synthesis request may also include the picking position of the molecular sieve experimental sample processed by (T1, F2, P2) (for example, the discharge area of M21), so as to transfer this picking position to the next round of handling requests.

[0073] Next, in the case of receiving the new synthesis request, each workstation determines whether it can implement the new target process P1. After the workstation capable of completing this process operation receives the new synthesis request, it combines the task sequence in its own current task list, predicts the completion time point of the corresponding task in the request information, and sends the predicted completion time point of this task to M21. Then, workstation M21 preferentially assigns this synthesis task to the workstation with the closest completion time point (for example, M11) according to the time points fed back by each workstation, and sends the confirmed new synthesis task information to this workstation (for example, M11). The specific implementation process is similar to the relevant content of step S203.

[0074] Finally, workstation M11 receives the confirmed new synthesis task information. After workstation M11 receives the new synthesis task information, it inserts this task into the task list in the order of priority and recalculates the expected completion time point of each task; while the workstations that do not receive the confirmation information maintain their original states. M11 executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the next process in the synthesis formula in the synthesis task with the first priority. The specific process is similar to the relevant content of the above step S205.

[0075] The multi-body collaborative scheduling method further includes: when all processes in the synthesis formula of the synthesis task with the first priority are executed on the molecular sieve experimental sample, the workstation with the first earliest time point sends a second handling request to the multiple robots, where the second handling request includes the molecular sieve finished product, the material taking position of the molecular sieve finished product, and the position of the finished product area; in response to the second duration required for the handling task fed back by the robots in the idle state among the multiple robots according to the material taking position of the molecular sieve finished product, the position of the finished product area, and their own positions, the workstation with the first earliest time point determines the robot with the shortest second duration as the second specific robot, and assigns the second handling request to the second specific robot to move the molecular sieve finished product from the material taking position of the molecular sieve finished product to the finished product area by the second specific robot.

[0076] Specifically, if the workstation (such as M31) completes the last formula process (T1, F2, P3) of the sample, the warehousing handling task of the sample is assigned.

[0077] First, the workstation M31 sends a warehousing handling request for the sample to the robots moving around through the local area network. Among them, the warehousing handling request may include the molecular sieve finished product obtained by the treatment of (T1, F2, P3), the position of the discharging area of the M31, and the position of the finished product area.

[0078] Secondly, after the robots in the idle state receive the warehousing handling request, they calculate the estimated completion time of the handling task according to information such as their own positions, the material taking positions, and the positions of the finished product areas, and send the estimated completion time as feedback information to M31.

[0079] Then, the workstation M31 preferentially selects the robot with the shortest completion time (such as A2) according to the feedback time, and sends the confirmed warehousing handling information to the mobile robot A2.

[0080] Finally, after the robot A2 receives the confirmed warehousing handling information, it moves the molecular sieve finished product to the finished product area according to the task information, and finally completes all the synthesis formula processes of the sample.

[0081] The multi-body collaborative scheduling method further includes: when all processes in the synthesis formula of the synthesis task with the first priority are executed on the molecular sieve experimental sample, feedback information that the synthesis task with the first priority has been executed and completed to the root workstation.

[0082] Specifically, if a workstation (such as M31) completes the last formulation process (T1, F2, P3) of a sample, it feeds back to the root workstation the information that all processes (P2 -> P1 -> P3) of the synthesis task (T1, F2) with the first priority have been completed. Correspondingly, after receiving the information that all processes (P2 -> P1 -> P3) of the synthesis task (T1, F2) with the first priority have been completed, the root workstation deletes the synthesis task (T1, F2) with the first priority from the task list.

[0083] In another embodiment, after executing the synthesis task with the first priority in the task list (i.e., step S205), the multi-body collaborative scheduling method further includes: the workstation with the first earliest time point sequentially executes other synthesis tasks in the task list according to the priority order.

[0084] Specifically, after completing (T1, F2), M21 first executes the synthesis task (T3, F1) with the second priority, and then sequentially executes other synthesis tasks according to the priority from high to low.

[0085] The following takes Figure 3 as an example to explain and illustrate the multi-body collaborative scheduling process.

[0086] Step S301, determine the root workstation.

[0087] Step S302, the root workstation sequentially issues synthesis task requests according to the task priorities.

[0088] Step S303, the workstation capable of completing the corresponding process replies to the synthesis task issuer with the estimated completion time.

[0089] Step S304, the synthesis task issuer distributes the synthesis task according to the searched estimated completion time.

[0090] Step S305, the workstation that receives the synthesis task issues a handling task request to the nearby moving robot.

[0091] Step S306, the robot that receives the handling request replies to the handling task issuer with the estimated handling time.

[0092] Step S307, the handling task issuer distributes the handling task according to the received estimated handling time.

[0093] Step S308, after a robot receives the handling task, it transports the sample to the handling task issuer.

[0094] Step S309, after the handling task issuer receives the sample, it starts the operation of the corresponding process.

[0095] Step S310: Determine whether the sample synthesis is completed. If so, all synthesis processes are completed; otherwise, execute Step S311.

[0096] Step S311: The handling task publisher serves as the task sender for the next process.

[0097] In summary, the present invention creatively provides a multi-body collaborative scheduling method for molecular sieve synthesis, which is applied to the workstation side. Multiple workstations on the workstation side cooperate with each other to implement different synthesis formulas. Each workstation can implement the operation of one process in the different synthesis formulas and is configured with different operation times for different synthesis formulas. The multi-body collaborative scheduling method includes: receiving a first synthesis request sent by the root workstation; determining whether it has the ability to execute the target process; if there is a workstation with the ability to execute the target process, then the workstation with the ability to execute the target process predicts the time point for completing the first target synthesis task according to the operation times and priorities of multiple synthesis tasks in the task list and the operation times and priorities of the first target synthesis task, and feeds back the time point to the root workstation; and the workstation with the first earliest time point receives the first synthesis request assigned by the root workstation; the workstation with the first earliest time point inserts the first target synthesis task into its task list in the order of priorities, and executes the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the target process under the synthesis formula in the synthesis task with the first priority. Thus, the present invention adopts a distributed control method to achieve multi-body collaborative scheduling. Specifically, it utilizes workstations involved in different synthesis processes to achieve efficient collaboration of distributed self-organization through a task allocation method, and realizes flexible allocation of molecular sieve synthesis tasks with multiple process formulas and multiple processes.

[0098] Figure 4 This is a multi-body collaborative scheduling method for molecular sieve synthesis provided by an embodiment of the present invention. Among them, the multi-body collaborative scheduling method is applied to the root workstation side. As Figure 4As shown, the multi-body collaborative scheduling method includes: Step S401, sending a synthesis request to the multiple workstations, where the multiple workstations cooperate with each other to implement different synthesis recipes, each workstation can implement the operation of one process in the different synthesis recipes and is configured with different operation times for different synthesis recipes, and where the synthesis request includes: the picking location of the molecular sieve experimental sample, the target synthesis task, the priority of the target synthesis task, and the target process under the target synthesis recipe in the target synthesis task; and Step S402, in response to the time point at which the workstation among the multiple workstations capable of executing the target process completes the execution of the target synthesis task according to the operation times and priorities of the multiple synthesis tasks in the task list and the operation times and priorities of the target synthesis task, in the order of the priorities from high to low, allocating the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in the order of priorities and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority, where the first priority is the highest priority.

[0099] Wherein, the root workstation is any one of the multiple workstations or a central management node.

[0100] The following separately explains and describes each of the above steps executed by the root workstation.

[0101] Step S401, sending a synthesis request to the multiple workstations.

[0102] Wherein, the multiple workstations cooperate with each other to implement different synthesis recipes, each workstation can implement the operation of one process in the different synthesis recipes and is configured with different operation times for different synthesis recipes, as shown in Table 2. And, where the synthesis request includes: the picking location of the molecular sieve experimental sample, the target synthesis task, the priority of the target synthesis task, and the target process under the target synthesis recipe in the target synthesis task. As shown in Table 3, the synthesis request may include: target synthesis task-(T11,F2), the priority of the target synthesis task-9, and the target process P2 under the target synthesis recipe F2. Where the target synthesis task includes the target synthesis task ID and the target synthesis recipe F2.

[0103] Before performing step S401 (sending a synthesis request to the multiple workstations), the multi-body collaborative scheduling method includes: sorting multiple synthesis tasks by priority, where the multiple synthesis tasks include different synthesis recipes; and sending multiple synthesis requests regarding the multiple synthesis tasks to the multiple workstations in descending order of priority.

[0104] Taking the data shown in Table 3 as an example, sort the multiple synthesis tasks to be performed in descending order of priority. Among them, (T11,F2) has the highest priority; (T17,F2) has the lowest priority. Then, send multiple synthesis requests corresponding to the multiple synthesis tasks to the multiple workstations one by one in descending order of priority.

[0105] Step S402, in response to the time points for completing the target synthesis task in descending order of priority fed back by the workstations capable of performing the target process among the multiple workstations according to the operation time and priority of the multiple synthesis tasks in the task list and the operation time and priority of the target synthesis task, allocate the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in priority order and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority.

[0106] Among them, the first priority is the highest priority.

[0107] Based on the content described above regarding steps S202 - S203, the workstations capable of performing the target process among the multiple workstations will determine the time points for completing the target synthesis task in descending order of priority according to the operation time and priority of the multiple synthesis tasks in the task list and the operation time and priority of the target synthesis task (as shown in Table 4), and the workstations capable of performing the target process will each feedback the corresponding time points to the root workstation.

[0108] The root workstation (such as the central management node) preferentially allocates the synthesis task to the workstation with the closest completion time point according to the time points fed back by each workstation, and sends the confirmed synthesis task information to the workstation. It can be obtained from Table 4 that process P2 under the (T11,F2) synthesis task will be completed by M21.

[0109] In one embodiment, the multi-body collaborative scheduling method further includes: receiving the information that all processes of the synthesis task with the first priority have been executed; and deleting the synthesis task with the first priority from the task list.

[0110] Specifically, if the workstation (such as M31) has completed the last formulation process (T1, F2, P3) of the sample, it feeds back to the root workstation the information that all processes (P2 -> P1 -> P3) of the synthesis task (T1, F2) with the first priority have been executed and completed. Correspondingly, after receiving the information that all processes (P2 -> P1 -> P3) of the synthesis task (T1, F2) with the first priority have been executed and completed, the root workstation deletes the synthesis task (T1, F2) with the first priority from the task list.

[0111] In summary, the present invention creatively provides a multi-body collaborative scheduling method for molecular sieve synthesis, which is applied to the root workstation side and specifically includes: sending a synthesis request to the multiple workstations; and in response to the time points at which the workstations capable of executing the target process among the multiple workstations execute and complete the target synthesis task in the order of priority according to the operation time and priority of the multiple synthesis tasks in the task list and the operation time and priority of the target synthesis task, allocating the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in the order of priority and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis formulation in the synthesis task with the first priority. Thus, the present invention adopts a fully distributed collaboration and path conflict resolution method, and the collaboration process does not rely on central node scheduling, realizing flexible allocation of molecular sieve synthesis tasks with multiple process formulations and multiple processes.

[0112] Figure 5 This is a multi-body collaborative scheduling method for molecular sieve synthesis provided by an embodiment of the present invention. Among them, the multi-body collaborative scheduling method is applied to the robot side, and multiple robots are configured on the robot side. As Figure 5As shown in the figure, the multi-body collaborative scheduling method includes: Step S501, receiving a first handling request for a target process under a synthesis recipe in a synthesis task sent by a first workstation, where the first handling request includes a molecular sieve experimental sample to be used in the target process, a picking position and a feeding position of the molecular sieve experimental sample; Step S502, determining whether itself is in an idle state; Step S503, the robot in the idle state determines a first duration required for the handling task according to the picking position and the feeding position of the molecular sieve experimental sample and its own position, and feeds back the first duration to the first workstation; and Step S504, the robot with the shortest first duration receives the first handling request assigned by the first workstation, and transports the molecular sieve experimental sample from the picking position to the feeding position, so that the first workstation executes the target process under the synthesis recipe for the molecular sieve experimental sample.

[0113] Among them, the multiple robots communicate with each other through a local area network. During the traveling process, the robot shares its own position, speed, path, and its own task priority information with the surrounding robots through the local area network.

[0114] The following will respectively explain and illustrate each of the above steps.

[0115] Step S501, receiving a first handling request for a target process under a synthesis recipe in a synthesis task sent by a first workstation.

[0116] Among them, the first workstation may be the workstation with the first earliest time point (such as M21).

[0117] Among them, the first handling request includes: a molecular sieve experimental sample to be used in the target process, a picking position and a feeding position of the molecular sieve experimental sample.

[0118] M21 reads the synthesis task in its own task list, determines that the priority of (T1, F2) is the highest from Table 5, and sends the handling request information of this task to the surrounding moving robots through the local area network. Among them, the handling request may include the molecular sieve experimental sample to be used in (T1, F2, P2), the picking position and the feeding position of the molecular sieve experimental sample. Correspondingly, each robot receives the first handling request sent by the workstation with the first earliest time point (such as M21).

[0119] Step S502, determining whether itself is in an idle state.

[0120] Step S503: The robot in the idle state determines the first duration required for the handling task based on the material taking position and the material feeding position of the molecular sieve experimental sample and its own position, and feeds back the first duration to the first workstation.

[0121] After receiving the handling request information, the robots in the idle state (taking A1 and A2 as examples) calculate the time required for this handling task based on information such as their own positions, the material taking positions, and the material feeding positions, and send the estimated completion time as the return information to M21. Now, it is assumed that the numbers of the robots in the idle state and the estimated completion times for this handling task received by M21 are as shown in Table 6.

[0122] Step S504: The robot with the shortest first duration receives the first handling request assigned by the first workstation, and transports the molecular sieve experimental sample from the material taking position to the material feeding position, so that the first workstation performs the target process under the synthesis formula in the synthesis task for the molecular sieve experimental sample.

[0123] Based on the feedback time, M21 preferentially selects the robot with the shortest completion time (such as A2), and sends the confirmed handling task information to robot A2. After receiving the confirmed handling task information, A2 transports the sample from the discharge area of the previous process workstation / the storage area of the laboratory to the feeding area of the corresponding workstation (M21) of the current process. And the robot (A1) that does not receive the confirmed handling task information within a certain time will continue to wait for requests for other handling tasks. In the case where A2 transports the molecular sieve sample to the feeding area of M21, M21 performs the process P2 under the synthesis task regarding (T1, F2) for the molecular sieve experimental sample.

[0124] In an embodiment, the multi-body cooperative scheduling method further includes: receiving a second handling request regarding the synthesis task sent by the second workstation, where the second handling request includes the molecular sieve finished product of the synthesis task, the material taking position of the molecular sieve finished product, and the position of the finished product area; determining whether it is in the idle state itself; the robot in the idle state determines and feeds back the second duration required for the handling task based on the material taking position of the molecular sieve finished product, the position of the finished product area, and its own position; the robot with the shortest second duration receives the second handling request assigned by the second workstation, and transports the molecular sieve finished product from the material taking position of the molecular sieve finished product to the finished product area.

[0125] Wherein, the second workstation may be the workstation with the first earliest time point (such as M21), or other workstations (such as M31) among the multiple workstations except the workstation with the first earliest time point (such as M21).

[0126] For example, the workstation M31 sends a request for in-warehouse handling of samples to the surrounding robots via a local area network. Among them, the in-warehouse handling request may include the molecular sieve finished products processed by (T1, F2, P3), the position of the discharging area of the M31, and the position of the finished product area. The robot determines whether it is in an idle state. After the robot in the idle state receives the in-warehouse handling request, it calculates the estimated completion time of the handling task based on information such as its own position, the material-taking position, and the position of the finished product area, and sends the estimated completion time as feedback information to M31. Then, the workstation M31 preferentially selects the robot with the shortest completion time (such as A2) according to the feedback time, and sends the confirmed in-warehouse handling information to the mobile robot A2. After receiving the confirmed in-warehouse handling information, the robot A2 transports the molecular sieve finished products to the finished product area according to the task information, and finally completes all the synthesis formula processes of the sample.

[0127] In one embodiment, the first handling request and the second handling request further include the priority of the synthesis task, and the multi-body collaborative scheduling method further includes: during the process of executing the handling task for the first handling request or the second handling request, obtaining the positions, speeds, paths of other robots, and the priority of the synthesis task in the stored handling requests; judging whether there is a path conflict according to its own position, speed, and path, and the positions, speeds, and paths of the other robots;

[0128] In the case where there is a path conflict between itself and one of the other robots, determining the robot as the target robot, and judging the priority of the synthesis task in the first handling request or the second handling request stored by itself and the priority of the synthesis task in the handling request stored by the target robot; and in the case where the priority stored by itself is lower than the priority stored by the target robot, controlling itself to avoid according to the avoidance rule based on the potential field.

[0129] Among them, the controlling itself to avoid according to the avoidance rule based on the potential field includes: determining the distance between itself and the target robot according to its own position and the position of the target robot; determining the repulsive potential field function according to the distance; determining the repulsive force exerted on itself by the target robot according to the repulsive potential field function; and controlling the avoidance direction and the magnitude of the avoidance speed according to the repulsive force.

[0130] As Figure 6 shown, the surrounding environment of the robot is designed as an artificial gravitational field, and the workstation will generate "gravitational force" on the robot; during the movement, other robots (i.e., obstacles) will generate "repulsive force" on the automatically guided robot.

[0131] The gravitational potential field of the workstation acting on the robot is

[0132]

[0133] where m is the gravitational gain constant and ρ is the distance between the workstation and the robot.

[0134] The gravitational force F of the workstation acting on the robot att is the negative gradient of the gravitational potential field function:

[0135]

[0136] The repulsive potential field U of other robots acting on the robot rep is:

[0137]

[0138] In the formula: k is the repulsive field constant, q is the distance between the robot and the obstacle, and λ is the influence distance of the obstacle on the robot.

[0139] The repulsive force of other robots acting on the robot is the negative gradient of the repulsive potential field function:

[0140]

[0141] During normal operation, a new vector F is obtained by adding the repulsive force and the gravitational force vectors acting on the robot, that is, the forward direction of the robot vehicle is determined by this vector F:

[0142] F = F att + F rep . (5)

[0143] During the process of executing the handling task for the first handling request or the second handling request, multiple mobile robots may encounter path conflicts due to limited laboratory space. When path conflicts occur between different mobile robots, the path conflicts are resolved through convenient local self-organization negotiation according to their respective task priority information.

[0144] Specifically, during the movement process, the robot shares its own position, speed, path, and its own task priority information with the surrounding mobile robots through the local area network. After receiving the shared information of other mobile robots, the robot compares it with its own position, speed, and path information to determine whether path conflicts will occur. If there is a risk of path conflict between itself and another robot, it determines whether its own priority is lower than the task priority of another robot. If so, it controls itself to avoid according to the potential field-based avoidance rules to allow the robot with a higher priority to pass; otherwise, it ignores the conflict problem.

[0145] Among them, controlling itself to avoid according to the potential field-based avoidance rule may include: first, determining the distance q between the robot and another robot according to the position information; then determining the repulsive potential field function according to the above formula (3); then determining the repulsive force exerted on the robot by another robot according to the above formula (4); and finally, determining the avoidance direction and the magnitude of the avoidance speed according to the determined repulsive force.

[0146] In one embodiment, the multi-body collaborative scheduling method further includes: during the process of executing the handling task for the first handling request, in the event of a failure, feeding back the first handling request to the first workstation so that the first workstation resends the first handling request; or during the process of executing the handling task for the second handling request, in the event of a failure, feeding back the second handling request to the second workstation so that the second workstation resends the second handling request.

[0147] If a robot fails during handling, the robot promotes the priority level of the task it is executing by one level and sends it back to the original workstation as an urgent task. The workstation resends the task request information and selects the one with the nearest completion time point among the current idle robots without failure, and sends the confirmed handling task information to the mobile robot.

[0148] In summary, the present invention creatively provides a multi-body collaborative scheduling method for molecular sieve synthesis, which is applied to the robot side. The robot side is configured with multiple robots, and specifically includes: receiving a first handling request for a target process under a synthesis formula in a synthesis task sent by a first workstation; determining whether it is in an idle state; the robot in the idle state determines the first duration required for the handling task according to the material taking position and the material feeding position of the molecular sieve experimental sample and its own position, and feeds back the first duration to the first workstation; and the robot with the shortest first duration receives the first handling request assigned by the first workstation and transports the molecular sieve experimental sample from the material taking position to the material feeding position, so that the first workstation executes the target process under the synthesis formula for the molecular sieve experimental sample. Thus, the present invention creatively utilizes the perception, communication, and decision-making capabilities of the robot, reduces communication resource consumption, realizes the transfer of samples between different workstations, and further realizes the flexible allocation of molecular sieve synthesis tasks with multiple process formulas and multiple processes.

[0149] Next, take Figure 7 as an example to explain and illustrate the interaction process in the multi-body collaborative scheduling method.

[0150] Step S701, the root workstation sends a synthesis request to each workstation.

[0151] Step S702: Each workstation determines whether it has the ability to execute the target process in the synthesis request.

[0152] Step S703: The corresponding workstation predicts the time point of the synthesis task.

[0153] Among them, the corresponding workstation is the workstation that has the ability to execute the target process; and the synthesis task corresponds to the synthesis request.

[0154] Step S704: The corresponding workstations feedback their respective time points to the root workstation.

[0155] Step S705: The root workstation determines the earliest time point.

[0156] Step S706: The root workstation assigns the synthesis request to the workstation with the earliest time point.

[0157] Step S707: The workstation with the earliest time point inserts the synthesis task into its task list according to the priority order.

[0158] Step S708: The workstation with the earliest time point determines the handling request according to the synthesis task with the highest priority in its task list.

[0159] Step S709: The workstation with the earliest time point sends the handling request to the robot.

[0160] Step S710: Each robot determines whether it is in an idle state.

[0161] Step S711: The idle robot determines the time required for the handling task.

[0162] Among them, the handling task corresponds to the handling request.

[0163] Step S712: The idle robots feedback their respective times to the workstation with the earliest time point.

[0164] Step S713: The workstation with the earliest time point determines the shortest time.

[0165] Step S714: The workstation with the earliest time point assigns the handling request to the robot with the shortest time.

[0166] Step S715: The robot with the shortest time executes the handling task.

[0167] Step S716: The robot with the shortest time feedbacks the information of the completion of the handling to the workstation with the earliest time point.

[0168] Step S717: The workstation with the earliest time point executes the synthesis task.

[0169] Each of the above workstations, robots, and the data links between them constitute a molecular sieve synthesis flexible laboratory as shown in Figure 1 Figure [not provided]. The laboratory can be compatible with centralized control and distributed collaborative working modes. The main behavior mode of the laboratory is local collaborative self-organization behavior, including actions such as synthesis task allocation and mobile robot path conflict resolution. Secondly, through the root workstation (such as the central management node), human-computer interaction is carried out to establish the synthesis task, the synthesis process is supervised from the upper layer, the working status of each device is monitored, and appropriate fault reporting and intervention are carried out. The workstations and robots have capabilities such as state perception, autonomous communication, and autonomous decision-making. The state perception ability means having a certain perception and prediction ability of its own state, environmental state, and the current task completion situation; the autonomous communication ability means being able to actively communicate and share information with other surrounding workstations and robots through the communication network; the autonomous decision-making ability means being able to comprehensively analyze its own state and shared information and actively initiate or respond to relevant task requests.

[0170] The cooperation of multiple workstations starts from the emergence of a new synthesis task. After each workstation and robot repeatedly execute steps such as synthesis tasks and handling tasks, the multi-process operation of the synthesis recipe is completed.

[0171] The present invention adopts a fully distributed collaboration and path conflict resolution method. The collaboration process does not rely on central node scheduling. Through local intermittent communication between robots, collisions between mobile robots are avoided, communication resource consumption is reduced, and the transfer of samples between different workstations is realized. The intelligent level and safety reliability of the molecular sieve synthesis laboratory are improved.

[0172] An embodiment of the present invention provides a multi-body collaborative scheduling system for molecular sieve synthesis, which is applied to the workstation side. Multiple workstations on the workstation side cooperate with each other to implement different synthesis formulas. Each workstation can implement the operation of one process in the different synthesis formulas and is configured with different operation times for different synthesis formulas. The multi-body collaborative scheduling system includes: a receiving device configured to receive a first synthesis request sent by a root workstation, where the first synthesis request includes a first target synthesis task, the priority of the first target synthesis task, and a target process under a target synthesis formula in the first target synthesis task; a judging device configured to judge whether it has the ability to execute the target process; and a control device configured to, in the case that there is a workstation with the ability to execute the target process, control the workstation with the ability to execute the target process to execute: predicting the time point for completing the first target synthesis task according to the operation times and priorities of multiple synthesis tasks in the task list and the operation times and priorities of the first target synthesis task, and feeding back the time point to the root workstation; receiving the first synthesis request allocated by the root workstation; and inserting the first target synthesis task into its task list in the order of priority, and executing the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the target process under the synthesis formula in the synthesis task with the first priority, where the first priority is the highest priority.

[0173] An embodiment of the present invention provides a multi-body collaborative scheduling system for molecular sieve synthesis, which is applied to the root workstation side. The multi-body collaborative scheduling system includes: a sending device configured to send a synthesis request to the multiple workstations, where the multiple workstations cooperate with each other to implement different synthesis formulas, each workstation can implement the operation of one process in the different synthesis formulas and is configured with different operation times for different synthesis formulas, and where the synthesis request includes: the material taking position of the molecular sieve experimental sample, the target synthesis task, the priority of the target synthesis task, and the target process under the target synthesis formula in the target synthesis task; and an allocation device configured to, in response to the time point at which the workstation capable of executing the target process among the multiple workstations completes the execution of the target synthesis task in the order of priority according to the operation times and priorities of the multiple synthesis tasks in the task list and the operation times and priorities of the target synthesis task, allocate the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in the order of priority and executes the synthesis task with the highest priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis formula in the synthesis task with the highest priority, where the highest priority is the first priority.

[0174] An embodiment of the present invention provides a multi-body collaborative scheduling system for molecular sieve synthesis, which is applied to the robot side. The robot side is configured with multiple robots. The multi-body collaborative scheduling system includes: a receiving device configured to receive a first handling request sent by a first workstation for the target process under the synthesis formula in the synthesis task, where the first handling request includes the molecular sieve experimental sample to be used in the target process, the material taking position and the feeding position of the molecular sieve experimental sample; a judging device configured to judge whether itself is in an idle state; and a control device configured to control the robot in the idle state to determine the first duration required for the handling task according to the material taking position and the feeding position of the molecular sieve experimental sample and its own position, and feedback the first duration to the first workstation. The control device is further configured to control the robot with the shortest first duration to receive the first handling request allocated by the first workstation and transport the molecular sieve experimental sample from the material taking position to the feeding position, so that the first workstation executes the target process under the synthesis formula in the synthesis task for the molecular sieve experimental sample.

[0175] For the specific details and benefits of the multi-body collaborative scheduling system for molecular sieve synthesis provided by the embodiments of the present invention, reference may be made to the above description of the corresponding multi-body collaborative scheduling method for molecular sieve synthesis, which will not be elaborated here.

[0176] An embodiment of the present invention provides a workstation, which includes: a memory storing instructions; and a processor configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis.

[0177] An embodiment of the present invention provides a root workstation, which includes: a memory storing instructions; and a processor configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis.

[0178] An embodiment of the present invention provides a robot, which includes: a memory storing instructions; and a processor configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis.

[0179] An embodiment of the present invention provides a machine-readable storage medium storing instructions for causing a machine to execute the multi-body collaborative scheduling method for molecular sieve synthesis.

[0180] In the above multi-body collaborative scheduling system, the receiving device can be a receiver; the sending device and the distribution device can be transmitters; the operations performed by the judging device and the control device can be executed by a processor.

[0181] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0182] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not separately describe various possible combination methods.

[0183] Those skilled in the art can understand that all or part of the steps in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium, including several instructions for causing a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0184] In addition, any combination can be made among various different embodiments of the present invention, as long as it does not violate the idea of the present invention, and it should equally be regarded as the content disclosed by the present invention.

Claims

1. A multi-body collaborative scheduling method for molecular sieve synthesis, characterized in that, applied to the workstation side, multiple workstations on the workstation side cooperate with each other to implement different synthesis formulations, each workstation can implement the operation of one process in the different synthesis formulations and is configured with different operation times for different synthesis formulations, and the multi-body collaborative scheduling method includes: Receiving a first synthesis request sent by a root workstation, where the first synthesis request includes a first target synthesis task, the priority of the first target synthesis task, and the target process under the target synthesis formulation in the first target synthesis task; Judging whether there is the ability to execute the target process; If there is a workstation with the ability to execute the target process, the workstation with the ability to execute the target process predicts the time point for completing the first target synthesis task according to the operation times and priorities of multiple synthesis tasks in the task list and the operation times and priorities of the first target synthesis task, and feeds back the time point to the root workstation; The workstation with the first earliest time point receives the first synthesis request assigned by the root workstation; and The workstation with the first earliest time point inserts the first target synthesis task into its task list in the order of priority, and executes the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the target process under the synthesis formulation in the synthesis task with the first priority, where the first priority is the highest priority.

2. The multi-body collaborative scheduling method according to claim 1, characterized in that, The workstation with the first earliest time point executing the synthesis task with the first priority in the task list includes: Determining a first handling request according to the synthesis task with the first priority, and sending the first handling request to multiple robots, where the first handling request includes the molecular sieve experimental sample to be used in the target process under the synthesis formulation in the synthesis task with the first priority, the picking position and the feeding position of the molecular sieve experimental sample; In response to the first duration required for the handling task fed back by the robots in the idle state among the multiple robots according to the picking position and the feeding position of the molecular sieve experimental sample and their own positions, allocating the first handling request to the robot with the shortest first duration; and In response to the robot with the shortest first duration transporting the molecular sieve experimental sample from the picking position to the feeding position, executing the synthesis task with the first priority for the molecular sieve experimental sample.

3. The multi-body collaborative scheduling method according to claim 1 or 2, characterized in that, After executing the synthesis task with the first priority in the task list, the multi-body collaborative scheduling method further includes: The workstation with the first earliest time point judges whether the molecular sieve experimental sample has been executed for all processes in the synthesis formulation in the synthesis task with the first priority; When all the processes have not been performed on the molecular sieve experimental sample, the workstation with the first earliest time point sends a second synthesis request to the other workstations among the multiple workstations, where the second synthesis request includes: a second target synthesis task, the priority of the second target synthesis task, and the next process of the target process under the synthesis formula in the synthesis task with the first priority included in the second target synthesis task; In response to the second synthesis request sent by the workstation with the first earliest time point, determine whether there is the ability to perform the next process; If there is a workstation with the ability to perform the next process, the workstation with the ability to perform the next process predicts the time point for completing the second target synthesis task in the order of priority according to the operation time and priority of the multiple synthesis tasks in the task list and the operation time and priority of the second target synthesis task, and feeds back the time point to the workstation with the first earliest time point; and In response to the workstation with the first earliest time point allocating the second synthesis request to the workstation with the second earliest time point, the workstation with the second earliest time point inserts the second target synthesis task into its task list in the order of priority, and executes the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the next process in the synthesis formula of the synthesis task with the first priority.

4. The multi-body collaborative scheduling method according to claim 3, wherein, the multi-body collaborative scheduling method further includes: When all the processes in the synthesis formula of the synthesis task with the first priority have been performed on the molecular sieve experimental sample, the workstation with the first earliest time point sends a second handling request to the multiple robots, where the second handling request includes the molecular sieve finished product, the material taking position of the molecular sieve finished product, and the position of the finished product area; In response to the second duration required for the handling task fed back by the robot in the idle state among the multiple robots according to the material taking position of the molecular sieve finished product, the position of the finished product area, and its own position, the workstation with the first earliest time point determines the second specific robot as the robot with the shortest second duration, and allocates the second handling request to the second specific robot to let the second specific robot transport the molecular sieve finished product from the material taking position of the molecular sieve finished product to the finished product area.

5. The multi-body collaborative scheduling method according to claim 3, wherein, the multi-body collaborative scheduling method further includes: When all the processes of the synthesis task with the first priority have been performed on the molecular sieve experimental sample, feedback information that all the processes of the synthesis task with the first priority have been completed to the root workstation.

6. The multi-body collaborative scheduling method according to claim 1 or 2, wherein, After executing the synthesis task with the first priority in the task list, the multi-body collaborative scheduling method further includes: The workstation with the first earliest time point sequentially executes other synthesis tasks in the task list in the order of priority from high to low.

7. The multi-body collaborative scheduling method according to claim 1, characterized in that, The multiple workstations communicate through an industrial fieldbus.

8. A multi-body collaborative scheduling method for molecular sieve synthesis, characterized in that, Applied to the root workstation side, the multi-body collaborative scheduling method includes: Sending a synthesis request to the multiple workstations, where the multiple workstations cooperate with each other to implement different synthesis formulas, each workstation can implement the operation of one process in the different synthesis formulas and is configured with different operation times for different synthesis formulas, and where the synthesis request includes: the material taking position of the molecular sieve experimental sample, the target synthesis task, the priority of the target synthesis task, and the target process under the target synthesis formula in the target synthesis task; and In response to the time point at which the workstation capable of executing the target process among the multiple workstations completes the execution of the target synthesis task in the order of priority according to the operation times and priorities of the multiple synthesis tasks in the task list and the operation times and priorities of the target synthesis task, allocating the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in the order of priority and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis formula in the synthesis task with the first priority, where the first priority is the highest priority.

9. The multi-body collaborative scheduling method according to claim 8, characterized in that, Before sending the synthesis request to the multiple workstations, the multi-body collaborative scheduling method includes: Performing priority sorting on multiple synthesis tasks, where the multiple synthesis tasks include different synthesis formulas; and Sending multiple synthesis requests regarding the multiple synthesis tasks to the multiple workstations in the order of priority from high to low.

10. The multi-body collaborative scheduling method according to claim 8, characterized in that, The multi-body collaborative scheduling method further includes: Receiving the information that all processes of the synthesis task with the first priority have been executed; and Deleting the synthesis task with the first priority from the task list.

11. The multi-body collaborative scheduling method according to claim 8, characterized in that, The root workstation is any one of the multiple workstations or a central management node.

12. A multi-body collaborative scheduling method for molecular sieve synthesis, characterized in that, Applied to the robot side, the robot side is configured with multiple robots, and the multi-body collaborative scheduling method includes: Receive a first handling request sent by a first workstation for a target process under a synthesis recipe in a synthesis task, where the first handling request includes a molecular sieve experimental sample to be used in the target process, a material taking position and a material feeding position of the molecular sieve experimental sample; Judge whether it is in an idle state; The robot in the idle state determines a first duration required for the handling task according to the material taking position and the material feeding position of the molecular sieve experimental sample and its own position, and feeds back the first duration to the first workstation; and The robot with the shortest first duration receives the first handling request assigned by the first workstation, and transports the molecular sieve experimental sample from the material taking position to the material feeding position, so that the first workstation performs the target process under the synthesis recipe for the molecular sieve experimental sample.

13. The multi-body collaborative scheduling method according to claim 12, wherein, the multi-body collaborative scheduling method further includes: Receive a second handling request regarding the synthesis task sent by a second workstation, where the second handling request includes a molecular sieve finished product of the synthesis task, a material taking position of the molecular sieve finished product, and a position of the finished product area; Judge whether it is in an idle state; The robot in the idle state determines and feeds back a second duration required for the handling task according to the material taking position of the molecular sieve finished product, the position of the finished product area, and its own position; The robot with the shortest second duration receives the second handling request assigned by the second workstation, and transports the molecular sieve finished product from the material taking position of the molecular sieve finished product to the finished product area.

14. The multi-body collaborative scheduling method according to claim 12 or 13, wherein, the first handling request and the second handling request further include the priority of the synthesis task, and the multi-body collaborative scheduling method further includes: During the process of executing the handling task for the first handling request or the second handling request, obtain the positions, speeds, paths of other robots and the priority of the synthesis task in the stored handling requests; Judge whether there is a path conflict according to its own position, speed and path and the positions, speeds and paths of the other robots; In the case of a path conflict between itself and one of the other robots, determine that robot as the target robot, and judge the priority of the synthesis task in the first handling request or the second handling request stored by itself and the priority of the synthesis task in the handling request stored by the target robot; and In the case where the priority stored by itself is lower than the priority stored by the target robot, control itself to avoid according to the avoidance rule based on the potential field.

15. The multi-body collaborative scheduling method according to claim 14, wherein, the controlling itself to avoid according to the avoidance rule based on the potential field includes: Determine the distance between itself and the target robot according to its own position and the position of the target robot; determine a repulsive potential field function according to the distance; Determine the repulsive force exerted on itself by the target robot according to the repulsive force potential field function; and Control the avoidance direction and the magnitude of the avoidance speed according to the repulsive force.

16. The multi-body collaborative scheduling method according to claim 12 or 13,[[]] characterized in that,[[]] the multi-body collaborative scheduling method further includes:[[]] During the process of executing the handling task for the first handling request, in the event of a failure, feedback the first handling request to the first workstation so that the first workstation resends the first handling request; or During the process of executing the handling task for the second handling request, in the event of a failure, feedback the second handling request to the second workstation so that the second workstation resends the second handling request.

17. The multi-body collaborative scheduling method according to claim 12 or 13,[[]] characterized in that,[[]] The multiple robots communicate with each other through a local area network.

18. A multi-body collaborative scheduling system for molecular sieve synthesis,[[]] characterized in that,[[]] Applied to the workstation side, multiple workstations on the workstation side cooperate with each other to implement different synthesis recipes. Each workstation can implement the operation of one process in the different synthesis recipes and is configured with different operation times for different synthesis recipes. The multi-body collaborative scheduling system includes:[[]] A receiving device configured to receive a first synthesis request sent by a root workstation, where the first synthesis request includes a first target synthesis task, the priority of the first target synthesis task, and the target process under the target synthesis recipe in the first target synthesis task; A judging device configured to judge whether it has the ability to execute the target process; and A control device configured to, in the case of a workstation having the ability to execute the target process, control the workstation having the ability to execute the target process to execute:[[]] Predict the time point for completing the first target synthesis task according to the operation times and priorities of multiple synthesis tasks in the task list and the operation times and priorities of the first target synthesis task, and feedback the time point to the root workstation; and Receive the first synthesis request assigned by the root workstation; and Insert the first target synthesis task into its task list in the order of priority, and execute the synthesis task with the first priority in the task list to obtain a molecular sieve experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority, where the first priority is the highest priority.

19. A multi-body collaborative scheduling system for molecular sieve synthesis,[[]] characterized in that,[[]] Applied to the root workstation side, the multi-body collaborative scheduling system includes:[[]] A sending device, configured to send a synthesis request to the multiple workstations, where the multiple workstations cooperate with each other to implement different synthesis recipes, each workstation is capable of implementing the operation of one process in the different synthesis recipes and is configured with different operation times for different synthesis recipes, and where the synthesis request includes: the picking position of the molecular sieve experimental sample, the target synthesis task, the priority of the target synthesis task, and the target process under the target synthesis recipe in the target synthesis task; and An allocation device, configured to, in response to the time points at which the workstations among the multiple workstations capable of executing the target process complete the execution of the target synthesis task in the order of priority according to the operation times and priorities of the multiple synthesis tasks in the task list and the operation times and priorities of the target synthesis task, allocate the synthesis request to the workstation with the earliest time point, so that the workstation with the earliest time point inserts the target synthesis task into its task list in the order of priority and executes the synthesis task with the first priority in the task list to obtain the molecular sieve experimental sample processed by the target process under the synthesis recipe in the synthesis task with the first priority, where the first priority is the highest priority.

20. A multi-body collaborative scheduling system for molecular sieve synthesis Characterized in that Applied to the robot side, where multiple robots are configured on the robot side, and the multi-body collaborative scheduling system includes: A receiving device, configured to receive a first handling request for the target process under the synthesis recipe in the synthesis task sent by the first workstation, where the first handling request includes the molecular sieve experimental sample to be used in the target process, the picking position and the feeding position of the molecular sieve experimental sample; A judging device, configured to judge whether itself is in an idle state; A control device, configured to control the robot in the idle state to determine the first duration required for the handling task according to the picking position and the feeding position of the molecular sieve experimental sample and its own position, and feedback the first duration to the first workstation, The control device is further configured to control the robot with the shortest first duration to receive the first handling request allocated by the first workstation, and transport the molecular sieve experimental sample from the picking position to the feeding position, so that the first workstation executes the target process under the synthesis recipe in the synthesis task for the molecular sieve experimental sample.

21. A workstation Characterized in that The workstation includes: A memory, which stores instructions; and A processor, configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis according to any one of claims 1-7.

22. A root workstation Characterized in that The root workstation includes: A memory, which stores instructions; and A processor, configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis according to any one of claims 8-11.

23. A robot Characterized in that The robot includes: a memory that stores instructions; and a processor configured to execute the instructions to implement the multi-body collaborative scheduling method for molecular sieve synthesis according to any one of claims 12-17.

24. A machine-readable storage medium, characterized in that instructions are stored on the machine-readable storage medium, and the instructions are used to cause the machine to execute the multi-body collaborative scheduling method for molecular sieve synthesis according to any one of claims 1-17 above.

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