Intelligent laboratory dynamic scheduling method, system, device and equipment

Abstract

The invention provides an intelligent laboratory dynamic scheduling method, system, device and equipment, and the method comprises the steps: querying whether a second task exists at a current time point or not when first information of a first task to be executed is received; if the second task exists, obtaining second information of the second task; if it is determined that the priority levels of the first task and the second task are the same according to the first information and the second information, at least one node using the shared experimental equipment exists between the first task and the second task, and the type of the shared experimental equipment exists in a first type set in which consumable components need to be replaced when different tasks are switched and executed; if yes, searching a first calculation formula; determining experimental process information according to the first calculation formula, the first information and the second information, wherein the experimental process information comprises an equipment execution instruction and a robot execution instruction; and controlling at least one robot and at least one experimental device to operate according to the experimental process information. According to the invention, the execution efficiency of multiple batches of experiments is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to an intelligent laboratory dynamic scheduling method, system, device and equipment. BACKGROUND

[0002] An automated laboratory mainly uses advanced automation technology, instrument equipment and control systems to realize automatic operation of an experimental process. In particular, for large batches of repetitive experimental operations, mechanical equipment such as robots or mechanical arms is generally introduced to cooperate with experimental operations, so as to realize unmanned experimental operations and avoid quality unqualified problems caused by long-time experimental operations by humans. However, in the existing automated operation process, new experiments or experimental equipment failures may easily occur, especially in a multi-batch experimental process, which may cause errors in an experimental process and terminate the experiment. SUMMARY

[0003] Embodiments of the present application provide an intelligent laboratory dynamic scheduling method, system, device and equipment, which can improve the rationality of scheduling and improve the experimental efficiency of multi-batch experiments.

[0004] In a first aspect, an embodiment of the present application provides an intelligent laboratory dynamic scheduling method applied to a console of an intelligent laboratory dynamic scheduling system, the intelligent laboratory dynamic scheduling system including the console, at least one robot and at least one experimental equipment connected to the console, and the method including:

[0005] Upon receiving first information of a first task to be executed, it is determined whether a second task exists at a current time point, the first information including a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, the node information including control information in a time period from the end of operation of one experimental equipment to the end of operation of a next experimental equipment, the control information including equipment control information and robot control information;

[0006] If the second task exists, second information of the second task is obtained, the second information including a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task;

[0007] If it is determined according to the first information and the second information that the first task and the second task have the same priority level and there is at least one node using a common experimental equipment between the first task and the second task, it is determined whether a type of the common experimental equipment exists in a first type set, the first type set including a type of experimental equipment that needs to replace consumable components when switching to execute different tasks;

[0008] If the type of the common experimental equipment exists in the first type set, a first calculation formula is searched;

[0009] Experimental procedure information is determined according to the first calculation formula, the first information and the second information, the experimental procedure information including equipment execution instructions and robot execution instructions;

[0010] The at least one robot and the at least one experimental equipment are controlled to run according to the experimental procedure information.

[0011] In a second aspect, the embodiments of the present application provide an intelligent laboratory dynamic scheduling system, which comprises a console, at least one robot and at least one experimental equipment connected to the console, and the console is used for:

[0012] When first information of a first task to be executed is received, it is inquired whether a second task exists at a current time point, the first information including a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, the node information including control information in a time period from the end of running of one experimental equipment to the end of running of a next experimental equipment, the control information including equipment control information and robot control information;

[0013] If the second task exists, second information of the second task is acquired, the second information including a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task;

[0014] If it is determined according to the first information and the second information that the first task and the second task have the same priority level and there is at least one node using common experimental equipment between the first task and the second task, it is judged whether the type of the common experimental equipment exists in a first type set, the first type set including the type of experimental equipment that needs to replace consumable components when switching to execute different tasks;

[0015] If the type of the common experimental equipment exists in the first type set, a first calculation formula is searched;

[0016] Experimental procedure information is determined according to the first calculation formula, the first information and the second information, the experimental procedure information including equipment execution instructions and robot execution instructions;

[0017] The at least one robot and the at least one experimental equipment are controlled to run according to the experimental procedure information.

[0018] In a third aspect, an embodiment of the present application provides an intelligent laboratory dynamic scheduling device, applied to a console of an intelligent laboratory dynamic scheduling system, the intelligent laboratory dynamic scheduling system comprising the console, at least one robot and at least one experimental equipment connected to the console, and the device comprising:

[0019] a query unit configured to query whether a second task exists at a current time point when receiving first information of a first task to be executed, the first information comprising a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, the node information comprising control information in a time period from the end of running of one of the experimental equipment to the end of running of a next one of the experimental equipment, the control information comprising equipment control information and robot control information;

[0020] a first acquisition unit configured to acquire second information of the second task if the second task exists, the second information comprising a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task;

[0021] a judgment unit configured to determine whether a type of a common experimental equipment exists in a first type set if it is determined according to the first information and the second information that the first task and the second task have the same priority level and there is at least one node using the common experimental equipment between the first task and the second task, the first type set comprising a type of experimental equipment that needs to replace consumable components when switching to execute different tasks;

[0022] a search unit configured to search for a first calculation formula if the type of the common experimental equipment exists in the first type set;

[0023] a determination unit configured to determine experimental process information according to the first calculation formula, the first information and the second information, the experimental process information comprising equipment execution instructions and robot execution instructions;

[0024] a control unit configured to control the at least one robot and the at least one experimental equipment to run according to the experimental process information.

[0025] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs comprise instructions for executing part or all of the steps described in the first aspect of the embodiments of the present application.

[0026] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, having stored thereon a computer program, the computer program comprising program instructions that, when executed by a processor, cause the processor to perform part or all of the steps of the method according to the first aspect.

[0027] In a sixth aspect, an embodiment of the present application provides a computer program product. The computer program product includes a non-transitory computer readable storage medium storing a computer program. The computer program is operable to cause a computer to perform part or all of the steps of the method according to the first aspect of the embodiments of the present application. The computer program product can be a software installation package.

[0028] In the embodiments of the present application, when the console receives first information of a first task to be executed, the console queries whether a second task exists at a current time point. The first information includes a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task. The node information includes control information in a time period from the end of running of one experimental device to the end of running of a next experimental device. The control information includes device control information and robot control information. If the second task exists, the console obtains second information of the second task. The second information includes a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task. If it is determined according to the first information and the second information that the first task and the second task have the same priority level and there is at least one node using a common experimental device between the first task and the second task, the console determines whether a type of the common experimental device exists in a first type set. The first type set includes types of experimental devices that need to replace consumable components when switching to execute different tasks. If the type of the common experimental device exists in the first type set, the console finds a first calculation formula. The console determines experimental flow information according to the first calculation formula, the first information and the second information. The experimental flow information includes device execution instructions and robot execution instructions, which improves rationality and accuracy of the determined execution instructions. The console controls at least one robot and at least one experimental device to run according to the experimental flow information. In the present application, when it is determined that a task is inserted, scheduling is determined according to information of the task, which improves rationality of the scheduling and thus improves experimental execution efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0030] Figure 1 A structural schematic diagram of an intelligent laboratory dynamic scheduling system provided by an embodiment of the present application is shown in FIG. 1.

[0031] Figure 2 A flowchart of an intelligent laboratory dynamic scheduling method provided by an embodiment of the present application;

[0032] Figure 3 A schematic diagram of a robot placing an experimental product on a placement platform provided by an embodiment of the present application;

[0033] Figure 4 A schematic diagram of a robot moving provided by an embodiment of the present application;

[0034] Figure 5 A schematic diagram of a robot transferring provided by an embodiment of the present application;

[0035] Figure 6 A functional unit composition block diagram of an intelligent laboratory dynamic scheduling device provided by an embodiment of the present application;

[0036] Figure 7 A structural schematic diagram of a console provided by an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the personnel in the technical field better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, not to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0039] In this document, the term "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it independent or alternative to other embodiments. The person skilled in the art explicitly and implicitly understands that the embodiments described herein can be combined with other embodiments.

[0040] Specifically, please refer to Figure 1 , Figure 1 A structural diagram of an intelligent laboratory dynamic scheduling system provided by an embodiment of the present application is shown in FIG. 1. As shown in FIG. 1, the intelligent laboratory dynamic scheduling system includes a console, at least one robot connected to the console, and at least one experimental equipment. Data interaction is performed between the console and the at least one robot, and between the console and the at least one experimental equipment. The at least one robot can include a first robot, a second robot, …, and an Nth robot, and the number of the included robots is not limited here. The at least one experimental equipment can include a first experimental equipment, a second experimental equipment, …, and an Mth experimental equipment, and the specific number of the experimental equipment is not limited here. Figure 1

[0041] Among the at least one robot, the robot includes a humanoid robot. The humanoid robot is a hybrid driving robot with legs and wheels to adapt to different laboratory environments. The robot can use wheel movement in flat and open areas to improve movement speed, and can use biped movement in narrow or climbing areas to adapt to different terrains and improve robot applicability. In addition, the biped distance of the robot can be adjusted to adapt to roads of various widths. The robot mechanical arm includes a shoulder, an elbow, and a wrist to improve the flexibility of the robot. The mechanical hand of the robot is replaced by magnetic attraction. Specifically, the mechanical hand includes an electric gripper mechanical hand and a humanoid mechanical hand, and the mechanical hand can be replaced according to the operation to be performed during the experiment. When an operation such as transferring a hole plate is required, an electric gripper mechanical hand can be used to improve the stability of gripping. When an operation such as gripping a test tube is performed, a humanoid mechanical hand is used to improve the control accuracy. Specifically, before performing a task, information corresponding to the task is obtained to determine the experimental equipment involved, and the operation to be performed is determined according to the experimental equipment, so that the mechanical hand of the robot is replaced to ensure the efficiency of performing the task.

[0042] Please refer to Figure 2 , Figure 2 A flowchart of an intelligent laboratory dynamic scheduling method provided by an embodiment of the present application is shown in FIG. 2. As shown in FIG. 2, an intelligent laboratory dynamic scheduling method is applied to a console of an intelligent laboratory dynamic scheduling system, the intelligent laboratory dynamic scheduling system includes the console, at least one robot connected to the console, and at least one experimental equipment, and the method includes the following steps. Figure 2 S201, upon receiving first information of a first task to be executed, querying whether a second task exists at a current time point.

[0043]

[0044] ​​The first information includes a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, and the node information includes control information in a time period from the end of running of one experimental equipment to the end of running of next experimental equipment, and the control information includes equipment control information and robot control information.

[0045] Specifically, when the console receives the first information of the first task to be executed, it is determined whether the second task exists at the current time point, so as to determine whether the first task is an inserted task. In this application, the same task can include a plurality of experiments, the node information between each two experiments is the same, and the batch number of experiments in the task is set according to actual needs, which is not limited here. By determining whether the first task is an inserted task in time, data support is provided for subsequent scheduling.

[0046] S202, if the second task exists, acquiring second information of the second task.

[0047] The second information includes a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task. If it is detected that the second task exists, the second information of the second task is acquired to provide data support for subsequent scheduling.

[0048] S203, if it is determined according to the first information and the second information that the priority levels of the first task and the second task are the same, and there is at least one node using a common experimental equipment between the first task and the second task, it is determined whether the type of the common experimental equipment exists in a first type set.

[0049] The first type set includes types of experimental equipment that need to replace consumable components when switching to perform different tasks. Specifically, the first priority identifier of the first task in the first information and the second priority identifier of the second task in the second information are obtained, it is determined that the priority levels of the first task and the second task are the same according to the first priority identifier and the second priority identifier, and it is determined that there is a node of using a shared experimental equipment between the first task and the second task according to the first information and the second information, then it is further determined whether the type of the shared experimental equipment exists in the first type set. The shared experimental equipment is the same experimental equipment. That is, it is determined whether the shared experimental equipment is experimental equipment that needs to replace consumable components when switching to perform a task. For example, if the shared experimental equipment needs to perform the operation of stirring experimental samples, in order to avoid the experimental samples being contaminated by experimental samples of other tasks, the stirring rod of the shared experimental equipment needs to be replaced during the switching from one task to another task, so as to ensure the success rate of the experiment. If the number of determined shared experimental equipments is greater than 1, it is determined whether the type of each shared experimental equipment exists in the first type set, and if the type of at least one shared experimental equipment exists in the first type set, the step of searching for the first calculation formula is performed. By determining whether the shared experimental equipment is experimental equipment that needs to replace consumable components, the rationality of subsequent scheduling is improved. If it is determined that the priority levels of the first task and the second task are different, and it is determined that there is no node of using a shared experimental equipment between the first task and the second task according to the first information and the second information, the first task and the second task are executed in parallel.

[0050] S204, if the type of the shared experimental equipment exists in the first type set, searching for the first calculation formula.

[0051] When it is determined that the type of the shared experimental equipment exists in the first type set, the first calculation formula stored in advance is obtained to provide data support for subsequent scheduling.

[0052] S205, determining experimental process information according to the first calculation formula, the first information and the second information.

[0053] The experimental process information includes device execution instructions and robot execution instructions. The experimental process information is determined according to the first calculation formula, the first information and the second information. The experimental process information includes device execution instructions and robot execution instructions to control the experimental equipment and the robot respectively, and improve the accuracy of control.

[0054] S206, controlling the at least one robot and the at least one experimental equipment to run according to the experimental process information.

[0055] wherein, after determining the experiment flow information, at least one experimental equipment is controlled to run according to the equipment execution instruction, and at least one robot is controlled to run according to the robot execution instruction.

[0056] It can be seen that in this example, when it is determined that a task is inserted, scheduling can be performed in combination with different information of different tasks to avoid task conflicts, improve the rationality of scheduling, and further improve the efficiency of experiment execution.

[0057] In a possible example, the determining the experiment flow information according to the first calculation formula, the first information and the second information comprises: obtaining a first total number of experiments in the first task in the first information and a plurality of first node information; determining a first interval duration and a first processing duration of the shared experimental equipment according to the plurality of first node information, the interval duration representing an interval duration of the shared experimental equipment between adjacent two experimental samples in the same task, and the processing duration representing a processing duration of the shared experimental equipment in a single node of the task; obtaining a second total number of experiments in the second task in the second information and a plurality of second node information; determining a second interval duration and a second processing duration of the shared experimental equipment according to the plurality of second node information; obtaining a first yield of a single experiment in the first task and a second yield of a single experiment in the second task; determining a first execution number of experiments of the first task and a second execution number of experiments of the second task in a preset duration according to the shared experimental equipment, the first calculation formula, the first total number, the second total number, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first yield and the second yield; and determining the experiment flow information according to the first execution number, the second execution number, the first total number, the second total number, the plurality of first node information and the plurality of second node information. The first calculation formula is: F = max(∑ n∈ N C n X n ); wherein, The a nm is a sum of the interval duration and the processing duration of the mth shared experimental equipment in the nth task, the T is the preset duration, the a nm is greater than or equal to zero, the m ∈ M, and the M is a set composed of the shared experimental equipment; the F is a maximum yield that can be obtained by executing a task, the C n is a yield of a single experiment in the nth task, and the C n is greater than or equal to zero; the X nis the number of times of execution of the experiment in the nth task, n∈N, N is a set composed of the first task and the second task, X n is greater than or equal to zero, and X n is less than or equal to Q n , Q n is the total number of experiments corresponding to the nth task.

[0058] In a specific example, the number of times of execution of the experiment in different tasks is different. A plurality of first node information in the first information and a first total number of experiments in the first task are obtained, and the first total number of experiments represents the number of batches of execution of the experiment in the first task. A plurality of second node information in the second information and a second total number of experiments in the second task are obtained, and the second total number of experiments represents the number of batches of execution of the experiment in the second task. The node information includes control information in a period from the end of running of one experimental equipment to the end of running of the next experimental equipment, and the control information includes equipment control information and robot control information.

[0059] The equipment control information includes the identification of the experimental equipment, the running time of the experimental equipment in the node of the task, and the equipment control parameter. For example, if the experimental equipment used in the node of the task is a centrifuge, the equipment control parameter includes the running time of the centrifuge and the rotating speed during centrifugation. The robot control information includes the type of the robot required in the node of the task, the action data required to be executed by the robot, and the experimental equipment connected to the robot. The first processing time and the first interval time are determined according to the plurality of robot control information and the plurality of equipment control information in the plurality of first node information.

[0060] The first processing time length and the first interval time length are determined according to the robot control information and the device control information in the plurality of first node information, including: obtaining the robot type, the robot required action data and the experimental device connected to the robot in the robot control information corresponding to a single node; obtaining the robot moving speed according to the robot type, determining the robot moving distance in the node according to the experimental device connected to the robot, and determining the robot moving time length according to the robot moving speed and the robot moving distance. The transfer time length corresponding to the robot type and the connected experimental device is matched from a preset database, and the transfer time length is the time length required for the robot to place the material into the experimental device and the time length required for the robot to move the processed experimental product out of the experimental device. The preset database is previously provided with a corresponding relationship of different types of robots, different connected experimental devices and different transfer time lengths. The identification of the experimental device, the running time length of the experimental device in the node of the task and the device control parameter in the device control information corresponding to a single node are obtained. The first processing time length is the sum of the transfer time length and the running time length of the first node corresponding to the common experimental device. The sum of the moving time length and the first processing time length corresponding to each first node is calculated to determine the first node before the node where the common experimental device is located, and then the target first node with the maximum sum of the moving time length and the first processing time length is found. The sum of the moving time length and the first processing time length of the target first node is determined as the first interval time length. Similarly, the second processing time length and the second interval time length are determined according to the robot control information and the device control information in the plurality of second node information. The first income of a single experiment in the first task and the second income of a single experiment in the second task are obtained.

[0061] Specifically, the first calculation formula is: F = max(∑ n∈N C n X n ); and X n in the first calculation formula satisfies wherein a nm is the sum of the interval time length and the processing time length corresponding to the mth common experimental device in the nth task, T is a preset time length, a nm is greater than or equal to zero, m ∈ M, M is a set composed of common experimental devices, that is, a set composed of common experimental device labels; F is the maximum income that can be obtained by executing a task, C n is the income of a single experiment in the nth task, C n is greater than or equal to zero; X n is the number of executions of experiments in the nth task, n ∈ N, N is a set composed of the first task and the second task, that is, a set composed of task labels, for example, X1 represents the number of executions of the first task. And X n is greater than or equal to zero, X n is less than or equal to Q n , Q nis the total number of experiments corresponding to the nth task. The first execution number of experiments of the first task and the second execution number of experiments of the second task in the preset time period are determined according to the shared experimental equipment, the first calculation formula, the first total number, the second total number, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first benefit, and the second benefit. For example, if the first task and the second task share experimental equipment include two shared experimental equipment, which are the first shared experimental equipment and the second shared experimental equipment. Then the following calculation formula is obtained: F = max (C1X1 + C2X2), and a 11 X1 + a 12 X1 + a 21 X2 + a 22 X2 < T, a 11 is the sum of the first interval duration and the first processing duration corresponding to the first shared experimental equipment in the first task; a 12 is the sum of the first interval duration and the first processing duration corresponding to the second shared experimental equipment in the first task, a 21 is the sum of the second interval duration and the second processing duration corresponding to the first shared experimental equipment in the second task; a 22 is the sum of the second interval duration and the second processing duration corresponding to the second shared experimental equipment in the second task. X1 is greater than or equal to zero, X1 is less than or equal to Q1, Q1 is the first total number; X2 is greater than or equal to zero, X2 is less than or equal to Q2, Q2 is the second total number, C1 is the benefit of a single experiment in the first task, and C2 is the benefit of a single experiment in the second task. When the maximum F is obtained, the corresponding X1 and X2 are determined, X1 is the first execution number corresponding to the first task in the preset time period, and X2 is the second execution number corresponding to the second task in the preset time period. Different F is obtained according to different combinations of X1 and X2, X1 corresponding to the maximum F is determined as the first execution number, and X2 is determined as the second execution number.

[0062] Finally, the experiment flow information is determined according to the first execution times, the second execution times, the first total times, the second total times, the plurality of first node information and the plurality of second node information. Specifically, in the preset time length, the first task and the second task can be executed in turn. The first quantity value of the preset time length required for completing the experiment in the first task is determined according to the first execution times and the first total times, and the second quantity value of the preset time length required for completing the experiment in the second task is determined according to the second execution times and the second total times. The first quantity value and the second quantity value are compared, and the quantity value smaller than the other is determined as the target quantity value. When scheduling, the experiment in the first task of the first execution times and the experiment in the second task of the second execution times are cross-scheduled in the total time length corresponding to the target quantity value. That is, after the experiment in the first task of the first execution times is executed, the experiment in the second task of the second execution times is executed, or after the experiment in the second task of the second execution times is executed, the experiment in the first task of the first execution times is executed. If the first quantity value is smaller than the second quantity value, it is determined that the number of experiments in the first task scheduled until now is equal to the first total times, the scheduling of the experiment in the first task is stopped, then the experiment in the second task is scheduled until the number of experiments in the second task is equal to the second total times. If the second quantity value is smaller than the first quantity value, it is determined that the number of experiments in the second task scheduled until now is equal to the second total times, the scheduling of the experiment in the second task is stopped, then the experiment in the first task is continuously scheduled until the number of experiments in the first task is equal to the first total times.

[0063] It can be seen that in the present example, the execution times of different tasks in the preset time length are calculated based on the first calculation formula, so that more reasonable experiment flow information is generated.

[0064] In a possible example, if it is determined according to the first information and the second information that the first task and the second task have the same priority level, and there is at least one node using a common experimental device between the first task and the second task, the method further includes: determining whether the type of the common experimental device exists in the first type set, and if the type of the common experimental device does not exist in the first type set, determining a third interval time and a third processing time corresponding to the common experimental device in the first task according to a plurality of first node information; determining a fourth interval time and a fourth processing time corresponding to the common experimental device in the second task according to a plurality of second node information; if the third interval time is less than the fourth processing time, and the fourth interval time is less than the third processing time, generating execution information for controlling the common experimental device to cross-execute experiments in the first task and experiments in the second task; obtaining a third total number of experiments in the first task in the first information and a fourth total number of experiments in the second task in the second information; and determining the experiment process information according to the third total number, the fourth total number, the execution information, the plurality of first node information, and the plurality of second node information.

[0065] In a specific example, if the type of the common experimental device does not exist in the first type set, i.e., the common experimental device does not need to replace consumable components when switching between tasks, the third interval time and the third processing time corresponding to the common experimental device in the first task are determined according to the plurality of first node information, and the fourth interval time and the fourth processing time corresponding to the common experimental device in the second task are determined according to the plurality of second node information.

[0066] Specifically, the third processing duration and the third interval duration are determined according to the robot control information and the device control information in the plurality of first node information. The robot type, the action data required to be executed by the robot, and the experimental device connected to the robot are obtained from the robot control information corresponding to a single node. The robot moving speed is obtained according to the robot type, the robot moving distance is determined according to the experimental device connected to the robot, and the robot moving duration is determined according to the robot moving speed and the robot moving distance. The transfer duration corresponding to the robot type and the connected experimental device is matched from a preset database, and the transfer duration is the duration required for the robot to place the material into the experimental device and the duration required for the robot to move the processed experimental product out of the experimental device. The preset database is preconfigured with the corresponding relationship among different types of robots, different connected experimental devices, and different transfer durations. The identification of the experimental device, the duration of the experimental device running in the node of the task, and the device control parameter are obtained from the device control information. The third processing duration is the sum of the transfer duration and the running duration corresponding to the shared experimental device. The sum of the moving duration corresponding to each first node and the third processing duration is calculated, the first node before the node in which the shared experimental device is located is determined, the target first node with the maximum sum of the moving duration and the third processing duration is found, and the sum of the moving duration and the third processing duration of the target first node corresponding to the maximum sum is determined as the third interval duration. Similarly, the fourth processing duration and the fourth interval duration are determined according to the robot control information and the device control information in the plurality of second node information.

[0067] If the third interval duration is less than the fourth processing duration, and the fourth interval duration is less than the third processing duration, i.e., the duration of using the shared experimental equipment in the first task is greater than the duration of the material reaching the shared experimental equipment in the second task, the execution information of controlling the shared experimental equipment to cross execute the experiments of the first task and the experiments of the second task is generated. So that after the shared experimental equipment executes the task corresponding to the single experiment of the first task, the corresponding material of the second task reaches the shared experimental equipment, the shared experimental equipment can immediately process the experiment corresponding to the second task, improving the utilization rate and processing efficiency of the experimental equipment. Then, the third total number of experiments corresponding to the first task in the first information and the fourth total number of experiments corresponding to the second task in the second information are obtained. The experimental process information is determined according to the third total number, the fourth total number, the execution information, the plurality of first node information and the plurality of second node information. For example, the first number of times required for the first target node in the first task to be executed on the shared experimental equipment is determined according to the third total number, the first target node being a node requiring the shared experimental equipment; the second number of times required for the second target node in the second task to be executed on the shared experimental equipment is determined according to the fourth total number, the second target node being a node requiring the shared experimental equipment; and the scheduling between the first target node and the second target node on the shared experimental equipment is determined according to the execution information, the first number of times, the second number of times, the node information of the first target node and the node information of the second target node. That is, the shared experimental equipment cross executes the task required to be executed by the experimental equipment corresponding to the first target node and the task required to be executed by the experimental equipment corresponding to the second target node. The task scheduling of the other experimental equipment and the task scheduling of the robot in the first task and the task scheduling of the other experimental equipment and the task scheduling of the robot in the second task are determined based on the scheduling on the shared experimental equipment, the plurality of first node information and the plurality of second node information.

[0068] If the third interval duration is greater than or equal to the fourth processing duration, the first task is taken as the main task, the reference experimental process information is generated according to the first information of the first task, and the idle time period corresponding to the shared experimental equipment in the reference experimental process information is determined, the duration of the idle time period being the same as the third interval duration. Each idle time period is arranged as a time period for the shared experimental equipment to process the experiments of the second task. The experimental process information is generated according to the determined idle time period, the reference experimental process information and the second information. If the fourth interval duration is greater than or equal to the third processing duration, the second task is taken as the main task, the reference experimental process information is generated according to the second information of the second task, and the idle time period corresponding to the shared experimental equipment in the reference experimental process information is determined, the duration of the idle time period being the same as the fourth interval duration. Each idle time period is arranged as a time period for the shared experimental equipment to process the experiments of the first task. The experimental process information is generated according to the determined idle time period, the reference experimental process information and the first information, saving time and improving production efficiency.

[0069] It can be seen that in the example, if the common experimental equipment type exists the first type set, the experimental process information is determined according to the interval duration and processing duration of the common experimental equipment corresponding to different tasks, so that the time arrangement is more reasonable, and the rationality of scheduling is improved.

[0070] In a possible example, if the number of common experimental equipment is greater than 1, the interval duration and processing duration of each common experimental equipment corresponding to different tasks are respectively acquired, and the interval duration and processing duration of the same common experimental equipment in different tasks are compared. According to the comparison result of the same common experimental equipment, the experimental process between the node where the previous common experimental equipment is located and the node corresponding to the common experimental equipment is determined. For example, if the interval duration corresponding to the first task of the first common experimental laboratory equipment is greater than or equal to the running duration in the second task, the first task is taken as the main task, then the time period in which the interval duration corresponding to the first task of the first common experimental equipment is located is set as the time period in which the running duration is located, and the reference experimental process information is determined based on the node information from the start node in the first task to the node where the first common experimental equipment is located, the node information from the start node in the second task to the node where the first common experimental equipment is located, and the total number of experiments corresponding to each task respectively. Then, the interval duration and running duration corresponding to the second common experimental equipment are determined according to the information from the node where the first common experimental equipment is located to the node where the second common experimental equipment is located in the first task, and the interval duration and running duration corresponding to the second common experimental equipment are determined according to the information from the node where the first common experimental equipment is located to the node where the second common experimental equipment is located in the second task. If there is the second common experimental laboratory equipment corresponding to the interval duration in the first task is less than the running duration in the second task, and the interval duration in the second task is less than the running duration in the first task, the execution information of the second common experimental equipment executing the experiments in the first task and the experiments in the second task is generated. And the experimental process information is generated according to the total number of experiments corresponding to different tasks, the node information after the node where the first common experimental equipment is located in the first task, the node information after the node where the first common experimental equipment is located in the second task, the execution information, and the reference experimental process information. The rationality of the determined experimental process information is improved.

[0071] In a possible example, after the at least one robot and the at least one experimental equipment are controlled to run according to the experimental procedure information, the method further includes: receiving detection information of a first experimental equipment in the at least one experimental equipment at a current node; obtaining preset detection information of the first experimental equipment at the current node; determining whether an experimental product obtained by the first experimental equipment at the current node is qualified according to the detection information and the preset detection information; if the experimental product is not qualified, obtaining waste treatment instructions corresponding to the current node, the waste treatment instructions being used to control a robot of the current node to transfer a failed experimental product produced by the current node to a waste box; and controlling the robot corresponding to the current node to transfer the failed experimental product to the waste box according to the waste treatment instructions.

[0072] In a specific example, after a first experimental equipment in the at least one experimental equipment ends running at each node, the first experimental equipment collects detection information of an experimental product at the current node and sends the detection information to a console. The console receives the detection information of the first experimental equipment at the current node and obtains preset detection information of the first experimental equipment at the current node. Whether the experimental product obtained by the first experimental equipment at the current node is qualified is determined according to the detection information and the preset detection information. If the experimental product is not qualified, waste treatment instructions corresponding to the current node are obtained, the waste treatment instructions being used to control a robot of the current node to transfer a failed experimental product produced by the current node to a waste box. The robot corresponding to the current node is controlled to transfer the failed experimental product to the waste box according to the waste treatment instructions. If the experimental product is qualified, a processing step of a next node is entered.

[0073] It can be seen that in the example, when the experimental product is detected as unqualified, the robot is controlled to execute the waste treatment instructions, loss is stopped in time, the quality of the experimental product is ensured, and the intelligence in the production process is improved.

[0074] In a possible example, after the robot corresponding to the current node is controlled to transfer the failed experimental product to the waste box according to the waste treatment instruction, the method further includes: obtaining operation process information of the first experimental device at the current node; searching for target device execution instructions of the first experimental device at the current node from the experimental process information; determining whether the first experimental device performs the operation correctly according to the operation process information and the target device execution instructions; if the first experimental device performs the operation correctly, obtaining the number of tasks to be executed by each robot in the at least one robot, obtaining a task number set composed of the number of tasks to be executed, and the number of tasks to be executed is generated according to the robot execution instruction; determining a robot corresponding to the minimum number of tasks to be executed in the task number set as a maintenance robot; obtaining a cleaning instruction corresponding to the first experimental device, the cleaning instruction being used to instruct the robot to clean the first experimental device; and controlling the maintenance robot to clean the first experimental device according to the cleaning instruction.

[0075] In a specific example, after the robot corresponding to the current node is controlled to transfer the failed experimental product to the waste box according to the waste treatment instruction, the operation process information of the first experimental device at the current node is obtained, and the target device execution instructions of the first experimental device at the current node are searched from the experimental process information. It is determined that the experimental device sets the operation to be executed according to the target device execution instruction. If the operation in the operation process information is the same as the set operation to be executed in the target device execution instruction, it is determined that the first experimental device performs the operation correctly, and the experimental device is normal. If the operation in the operation process information is different from the set operation to be executed in the target device execution instruction, it is determined that the first experimental device performs the operation incorrectly, and the experimental device is abnormal. Then, device maintenance request information is sent to the console, which is used to request a user on the console side to maintain the experimental device, so as to maintain the experimental device in time and improve the production efficiency. For example, if the number of stirring experimental products recorded in the operation process information is 20 times, and the number of stirring experimental products set in the target device execution instruction is 20 times, it is determined that the first experimental device performs the operation correctly. If the number of stirring experimental products set in the target device execution instruction is 22 times, which is different from the number of stirring experimental products recorded in the operation process information, it is determined that the first experimental device performs the operation incorrectly. If the first experimental device performs the operation correctly, the number of tasks to be executed by each robot in the at least one robot is obtained, a task number set composed of the number of tasks to be executed is obtained, and the robot corresponding to the minimum number of tasks to be executed in the task number set is determined as a maintenance robot. The cleaning instruction corresponding to the target experimental device is obtained, and the cleaning instruction is sent to the maintenance robot to clean the first experimental device.

[0076] As can be seen from this example, when unqualified test samples occur, the cause of failure can be investigated and dealt with in a timely manner, thereby improving the intelligence of the scheduling process.

[0077] In one possible example, when obtaining the waste processing instruction corresponding to the current node, a first experimental process information prior to the current node is determined, and a second experimental process information from the current node to the last node is determined. At least one robot and at least one experimental device are controlled to operate based on the first experimental process information, and the robot with the fewest currently pending tasks among the at least one robots is selected as the transfer robot. The second experimental device corresponding to the first task at the last node in the first experimental process information is determined, and a first transfer path is generated based on the location information of the second experimental device and the location information of the placement platform. The third experimental device corresponding to the second task at the last node in the first experimental process information is determined, and a second transfer path is generated based on the location information of the third experimental device and the location information of the placement platform. Real-time operating data of the second and third experimental devices is obtained. When the second experimental device is determined to have completed its operation based on the real-time operating data, a first transfer instruction is generated based on the first transfer path information. The transfer robot is then controlled to move to the second experimental device according to the first transfer instruction, and the processed experimental items are transferred to the placement platform. When the operation of the third experimental device is determined to be complete based on real-time operational data, a second transfer instruction is generated based on the second transfer path information. Following this instruction, the transfer robot is controlled to move to the third experimental device and transfer the processed experimental items to the placement platform. (See also...) Figure 3 , Figure 3 This application provides a schematic diagram of a robot's manipulator placing an experimental object on a placement platform, as shown in the embodiment of the present application. Figure 3 As shown, before the transfer robot arrives at the first placement platform 302, the transfer robot's LiDAR scans the first placement platform 302 and establishes an XYZ coordinate system. Then, it detects the first position information of an empty location within the first placement platform 302 in the coordinate system, and the second position information of the transfer robot's first manipulator 301 in the coordinate system. After determining the position information, it generates movement commands to control the first manipulator 301 based on the first and second position information. According to the movement commands, it controls the transfer robot's first manipulator 301 to place the experimental object in the empty location. Finally, it collects image information of the first placement platform 302 after placement. Combining the image information, the first position information, and the experimental object information, it generates experimental object query information to facilitate rapid subsequent retrieval of the experimental object and to distinguish the task corresponding to the experimental object, avoiding retrieval errors.

[0078] If the second experimental equipment and the third experimental equipment are simultaneously run to completion, a robot with the least task among the at least one robot except the transfer robot is called to perform the transfer task. After the maintenance robot finishes cleaning the first experimental equipment, the experimental product corresponding to the second experimental equipment is transferred from the placement platform to the next experimental equipment corresponding to the second experimental equipment, or the experimental product corresponding to the third experimental equipment is transferred to the next experimental equipment corresponding to the third experimental equipment, thereby saving processing time and improving processing efficiency.

[0079] In a possible example, before the current time point is queried whether the second task exists when the first information of the first task to be executed is received, the method comprises: acquiring a width value of a passageway between each two adjacent experimental equipment in the at least one experimental equipment, obtaining a path width value set composed of the width value; finding a minimum width value in the path width value set; and adjusting the width between the two feet of each robot in the at least one robot according to the minimum width value.

[0080] In a specific example, before the first information of the first task to be executed is received, a 3D map containing equipment positions and passageway widths is established by using a laser radar to scan a laboratory space, the coordinates of each experimental equipment in the at least one experimental equipment are determined, and the width value of a path between each two adjacent experimental equipment is acquired, the minimum width value in the path width value set is found, and the width between the two feet of each robot in the at least one robot is adjusted according to the minimum width value. The robot can also set a collision avoidance buffer device according to requirements, and the contact force threshold of the collision avoidance buffer device is 20 N to protect the robot. Please refer to Figure 4 , Figure 4 A schematic diagram of robot movement provided by an embodiment of the present application is shown in FIG. 1. Figure 4 As shown in FIG. 1, the road in the laboratory passes through the first experimental equipment, the third experimental equipment and the second experimental equipment in sequence. If the road width d1 is 60 cm, the road width d2 is 50 cm, and the road width d3 is 25 cm, the width between the two feet of each robot in the at least one robot is adjusted according to the road width corresponding to the road width d3. Specifically, the distance d4 between the two feet of the robot at the current time point is collected, and d4 is adjusted to the value corresponding to d3, that is, 25 cm. In order to ensure the safety of the robot during operation.

[0081] As can be seen, in this example, the distance between the two feet of the robot is adaptively adjusted according to the road width, thereby improving the safety during task execution.

[0082] In one possible example, if the first robot passes by other experimental equipment while transferring the first experimental item, and the second experimental item on that equipment has been processed, then the first transfer route of the second robot corresponding to that experimental equipment is obtained. If the overlap between the first transfer route and the second transfer route of the first robot is greater than a preset value, for example, greater than 98%, the console obtains the first and second transfer routes and generates movement path information based on the first and second transfer routes. This movement path information includes the movement path passing through the next experimental equipment corresponding to the first experimental item and the next experimental equipment corresponding to the second experimental item. The first time point and the second time point of completion of the next experimental equipment corresponding to the first experimental item are obtained. A first duration is determined based on the current time point and the first time point, and a second duration is determined based on the current time point and the second time point. Based on the first duration, the second duration, the movement path information, and the first robot's movement speed, it is determined whether the first robot can arrive at the next experimental equipment corresponding to the first and second experimental items ahead of schedule or on time. If so, the first robot is controlled to transfer the first experimental item to a single hand and pick up the second experimental item using the idle robotic arm. The console obtains the first and second transfer routes, and generates transfer instruction commands based on the first and second transfer routes and the first robot's moving speed. The robot is controlled to run according to the transfer instruction commands, which saves resources and avoids multiple robots colliding on the same path, thus improving safety.

[0083] In one possible example, if the robot delivers the experiment to the experimental equipment, and the equipment has completed operation but has not yet released its slots, the robot executes the instruction to pick up the experiment with one hand and then remove it from the experimental equipment using its idle robotic arm. See also Figure 5 , Figure 5 A schematic diagram of a robot transfer provided in an embodiment of this application is shown below. Figure 5 As shown, the robot transfers the transported experimental sample 501 to the second robotic arm, and the third robotic arm removes the experimental sample 502 to be transferred from the experimental equipment. Then, the second robotic arm places the transported experimental sample 501 into the experimental equipment to avoid affecting the experimental process and ensure the smooth operation of each node.

[0084] The above describes the scheme of the embodiments of the present application mainly from the perspective of the process of executing the method. It can be understood that, in order to implement the above functions, the electronic device comprises hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in the form of hardware or computer software driving hardware depends on the specific application of the technical solution and the design constraint conditions. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0085] The embodiments of the present application can divide the functional units of the electronic device according to the above method examples. For example, each functional unit can be divided according to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be implemented in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, there can be another division method.

[0086] In the case of dividing each functional module according to each function, the following will be described in combination with Figure 6 The intelligent laboratory dynamic scheduling device in the embodiments of the present application will be described in detail, Figure 6 A functional unit composition block diagram of an intelligent laboratory dynamic scheduling device provided by the embodiments of the present application. An intelligent laboratory dynamic scheduling device is applied to a console of an intelligent laboratory dynamic scheduling system, the intelligent laboratory dynamic scheduling system comprises the console, at least one robot and at least one experimental equipment connected with the console, and the device comprises:

[0087] The query unit 601 is configured to query whether a second task exists at a current time point when receiving first information of a first task to be executed, the first information comprising a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, the node information comprising control information in a time period from the end of running of one experimental equipment to the end of running of the next experimental equipment, the control information comprising equipment control information and robot control information;

[0088] The first acquisition unit 602 is configured to acquire second information of the second task if the second task exists, the second information comprising a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task;

[0089] The determination unit 605 is configured to determine experiment process information according to the first calculation formula, the first information and the second information, wherein the experiment process information comprises device execution instructions and robot execution instructions.

[0090] The search unit 604 is configured to search for a first calculation formula if the type of the shared experimental equipment exists in the first type set.

[0091] The determination unit 605 is configured to determine experiment process information according to the first calculation formula, the first information and the second information, wherein the experiment process information comprises device execution instructions and robot execution instructions.

[0092] The control unit 606 is configured to control the at least one robot and the at least one experimental equipment to operate according to the experiment process information.

[0093] In a possible example, the determination unit 605 is configured to: acquire the first total number of experiments in the first information and the plurality of first node information; and determine, according to the plurality of first node information, a first interval duration and a first processing duration corresponding to the shared experimental equipment, wherein the interval duration represents an interval duration of the shared experimental equipment between adjacent two experimental samples in a same task, and the processing duration represents a processing duration of the shared experimental equipment in a single node of a task; acquire the second total number of experiments in the second information and the plurality of second node information; and determine, according to the plurality of second node information, a second interval duration and a second processing duration of the shared experimental equipment; acquire a first income of a single experiment in the first task and a second income of a single experiment in the second task; determine, according to the shared experimental equipment, the first calculation formula, the first total number, the second total number, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first income and the second income, a first execution number of experiments of the first task and a second execution number of experiments of the second task in a preset duration; and determine, according to the first execution number, the second execution number, the first total number, the second total number, the plurality of first node information and the plurality of second node information, the experiment process information.

[0094] In a possible example, the first calculation formula is F = max(Σ n∈N C n X n ); wherein, the anm is the sum of the interval duration and the processing duration corresponding to the mth shared experimental equipment in the nth task, the T is the preset duration, the a nm is greater than or equal to zero, the m∈M, the M is a set composed of the shared experimental equipment; the F is the maximum benefit that can be obtained by executing a task, the C n is the benefit of executing a single experiment in the nth task, the C n is greater than or equal to zero; the X n is the number of times of executing experiments in the nth task, the n∈N, the N is a set composed of the first task and the second task, the X n is greater than or equal to zero, and the X n is less than or equal to Q n , the Q n is the total number of experiments corresponding to the nth task.

[0095] In a possible example, the apparatus further comprises a processing unit configured to: if the type of the shared experimental equipment does not exist in the first type set, determine a third interval duration and a third processing duration corresponding to the shared experimental equipment in the first task according to the plurality of first node information; and determine a fourth interval duration and a fourth processing duration corresponding to the shared experimental equipment in the second task according to the plurality of second node information; and if the third interval duration is less than the fourth processing duration, and the fourth interval duration is less than the third processing duration, generate execution information for controlling the shared experimental equipment to cross-execute experiments in the first task and experiments in the second task; and obtain a third total number of experiments in the first task in the first information and a fourth total number of experiments in the second task in the second information; and determine the experiment process information according to the third total number, the fourth total number, the execution information, the plurality of first node information, and the plurality of second node information.

[0096] In a possible example, the apparatus further comprises a receiving unit configured to: receive detection information sent by a first experimental equipment in the at least one experimental equipment at a current node; obtain preset detection information of the first experimental equipment at the current node; determine whether an experimental product obtained by the first experimental equipment at the current node is qualified according to the detection information and the preset detection information; and if the experimental product is not qualified, obtain a waste treatment instruction corresponding to the current node, the waste treatment instruction being used to control a robot of the current node to transfer a failed experimental product produced by the current node to a waste box; and control the robot corresponding to the current node to transfer the failed experimental product to the waste box according to the waste treatment instruction.

[0097] In one possible example, the receiving unit is further configured to: acquire operation process information of the first experimental device at the current node; search for the target device execution instruction of the first experimental device at the current node from the experimental process information; determine whether the first experimental device performs the operation correctly based on the operation process information and the target device execution instruction; and if the first experimental device performs the operation correctly, acquire the number of robot tasks to be executed for each of the at least one robot, obtain a task quantity set consisting of the number of robot tasks to be executed, wherein the robot tasks to be executed are generated according to the robot execution instruction; identify the robot with the fewest number of robot tasks to be executed in the task quantity set as the maintenance robot; acquire a cleaning instruction corresponding to the first experimental device, wherein the cleaning instruction is used to instruct the robot to clean the first experimental device; and control the maintenance robot to clean the first experimental device according to the cleaning instruction.

[0098] In one possible example, the device further includes a second acquisition unit, configured to, upon receiving first information of a first task to be executed, query whether a second task exists at the current time point, before the method includes: acquiring the width value of the passageway between every two adjacent experimental devices in the at least one experimental device, obtaining a set of path width values ​​composed of the width values; finding the minimum width value within the set of path width values; and adjusting the width between the legs of each robot in the at least one robot according to the minimum width value.

[0099] Please combine Figure 7 , Figure 7 This is a schematic diagram of a console provided in an embodiment of this application. Figure 7 As shown, the console includes a processor 701, a communication module 702, a memory 703, and a program 704. The number of processors 701 can be set according to actual needs. The processors 701 are connected to the memory 703 and the communication module 702 via an internal communication bus.

[0100] The program 704 is stored in the memory 703 and configured to be executed by the processor 701. The program 704 includes instructions for performing any step in the method embodiments described below. It is understood that the number of programs 704 can be set according to actual needs, and no specific limitation is made here.

[0101] The processor 701 may, for example, be a Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processor 701 can implement or execute various example logical blocks, units, and circuits described in connection with the disclosure. The processor 701 can also be a combination of components implementing computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit can be a communication module 702, a transceiver, a transceiver circuit, and the like, and the storage unit can be a memory 703.

[0102] The memory 703 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, and not limitation, many forms of random access memory (RAM) can be used, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM).

[0103] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the above-described embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through a wired or wireless manner. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, or the like, which includes one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0104] The embodiments of the present application also provide a computer storage medium, which stores a computer program for electronic data exchange, and the computer program causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, and the computer includes an electronic device.

[0105] The embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0106] The computer program product can be a software installation package, and the computer includes an electronic device.

[0107] It should be understood that, in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0108] In several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other manners. For example, the described device embodiments are merely illustrative; the division of the units is merely logical function division; and there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0109] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0110] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can be a physical unit, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware, or in the form of hardware plus software function units.

[0111] The integrated unit implemented in the form of software function units can be stored in a computer readable storage medium. The software function unit stored in the storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute some steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0112] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art, without departing from the spirit and scope of the present application, can easily think of changes or replacements, and can make various changes and modifications, including combinations of different functions and implementation steps, including software and hardware implementation manners, which are all within the protection scope of the present application.

Claims

1. An intelligent laboratory dynamic scheduling method, characterized in that, The application discloses a console applied to an intelligent laboratory dynamic scheduling system, and a method for controlling the console. Upon receiving first information of a first task to be executed, it is determined whether a second task exists at a current time point, the first information comprising a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, the node information comprising control information in a time period from the end of operation of one of the experimental devices to the end of operation of a next one of the experimental devices, the control information comprising device control information and robot control information; If the second task exists, second information of the second task is acquired, the second information comprising a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task; If it is determined according to the first information and the second information that the first task and the second task have the same priority level and there is at least one node using a common experimental device between the first task and the second task, it is determined whether the type of the common experimental device exists in a first type set, the first type set comprising the types of experimental devices that need to replace consumable components when switching to execute different tasks; If the type of the common experimental device exists in the first type set, a first calculation formula is searched; Experimental flow information is determined according to the first calculation formula, the first information and the second information, the experimental flow information comprising device execution instructions and robot execution instructions; The at least one robot and the at least one experimental device are controlled to operate according to the experimental flow information.

2. The method of claim 1, wherein, The determination of the experimental flow information according to the first calculation formula, the first information and the second information comprises: The plurality of first node information in the first information and a first total number of experiments in the first task are acquired; First interval duration and first processing duration of the common experimental device are determined according to the plurality of first node information, the interval duration representing interval duration of the common experimental device between adjacent two experimental samples in the same task, and the processing duration representing processing duration of the common experimental device in a single node of a task; The plurality of second node information in the second information and a second total number of experiments in the second task are acquired; Second interval duration and second processing duration of the common experimental device are determined according to the plurality of second node information; First revenue of a single experiment in the first task and second revenue of a single experiment in the second task are acquired; First execution number of experiments of the first task and second execution number of experiments of the second task in a preset duration are determined according to the common experimental device, the first calculation formula, the first total number, the second total number, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first revenue and the second revenue. determine the experimental procedure information according to the first execution times, the second execution times, the first total times, the second total times, the plurality of first node information and the plurality of second node information.

3. The method of claim 2, wherein, The first calculation formula is: F = max(∑ n∈N C n X n ); wherein, the a nm is the sum of the interval duration and the processing duration corresponding to the mth shared experimental equipment in the nth task, the T is the preset duration, the a nm is greater than or equal to zero, the m∈M, the M is a set composed of the shared experimental equipment; the F is the maximum benefit that can be obtained by executing a task, the C n is the benefit of executing a single experiment in the nth task, the C n is greater than or equal to zero; the X n is the number of executions of experiments in the nth task, the n∈N, the N is a set composed of the first task and the second task, the X n is greater than or equal to zero, and the X n is less than or equal to Q n , the Q n is the total number of experiments corresponding to the nth task.

4. The method of claim 1, wherein, If it is determined according to the first information and the second information that the first task and the second task have the same priority level and there is at least one node using a common experimental equipment between the first task and the second task, it is determined whether the type of the common experimental equipment exists after the first type set, and the method further comprises: If the type of the common experimental equipment does not exist in the first type set, the third interval time and the third processing time corresponding to the common experimental equipment in the first task are determined according to the plurality of first node information; The fourth interval time and the fourth processing time corresponding to the common experimental equipment in the second task are determined according to the plurality of second node information; If the third interval time is less than the fourth processing time, and the fourth interval time is less than the third processing time, execution information for controlling the common experimental equipment to cross execute experiments in the first task and experiments in the second task is generated; The third total times of experiments in the first task in the first information and the fourth total times of experiments in the second task in the second information are obtained; The experimental procedure information is determined according to the third total times, the fourth total times, the execution information, the plurality of first node information, and the plurality of second node information.

5. The method according to any one of claims 1 to 4, characterized in that, After the at least one robot and the at least one experimental equipment are controlled to operate according to the experimental procedure information, the method further comprises: receiving detection information of a first experimental equipment in the at least one experimental equipment at a current node; obtaining preset detection information of the first experimental equipment at the current node; determining whether the experimental product obtained by the first experimental equipment at the current node is qualified according to the detection information and the preset detection information; If the experimental product is not qualified, a waste treatment instruction corresponding to the current node is obtained, and the waste treatment instruction is used to control a robot of the current node to transfer a failed experimental product produced by the current node to a waste box; controlling the robot corresponding to the current node to transfer the failed experimental product to the waste box according to the waste treatment instruction.

6. The method of claim 5, wherein, After the robot corresponding to the current node is controlled to transfer the failed experimental product to the waste box according to the waste treatment instruction, the method further comprises: obtaining operation process information of the first experimental equipment at the current node; finding a target equipment execution instruction of the first experimental equipment at the current node from the experimental procedure information; determining whether the first experimental equipment executes the operation correctly according to the operation process information and the target equipment execution instruction; If the first experimental equipment executes the operation correctly, the number of robot tasks to be executed of each robot in the at least one robot is obtained, a task number set composed of the number of robot tasks to be executed is obtained, and the robot task to be executed is generated according to the robot execution instruction. determine a robot corresponding to a minimum number of robot tasks to be executed in the task number set as a maintenance robot; obtain a cleaning instruction corresponding to the first experimental equipment, the cleaning instruction being used to instruct the robot to clean the first experimental equipment; control the maintenance robot to clean the first experimental equipment according to the cleaning instruction.

7. The method according to any one of claims 1 to 4, characterized in that, Before the step of querying whether a second task exists at a current time point when first information of a first task to be executed is received, the method comprises: obtain a width value of a passageway between each two adjacent experimental equipment in the at least one experimental equipment, and obtain a path width value set composed of the width values; find a minimum width value in the path width value set; adjust a width between two feet of each robot in the at least one robot according to the minimum width value.

8. An intelligent laboratory dynamic scheduling system, characterized in that, The control console, at least one robot and at least one experimental equipment connected with the control console, the control console being used to: query whether a second task exists at a current time point when first information of a first task to be executed is received, the first information comprising a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, the node information comprising control information in a time period from the end of running of one experimental equipment to the end of running of a next experimental equipment, the control information comprising equipment control information and robot control information; if the second task exists, obtain second information of the second task, the second information comprising a second priority identifier of the second task and a plurality of second node information of a single experiment in the second task; if it is determined according to the first information and the second information that the first task and the second task have the same priority level, and there is at least one node using a common experimental equipment between the first task and the second task, determine whether a type of the common experimental equipment exists in a first type set, the first type set comprising a type of experimental equipment that needs to replace a consumable component when switching to execute different tasks; if the type of the common experimental equipment exists in the first type set, find a first calculation formula; determine experimental process information according to the first calculation formula, the first information and the second information, the experimental process information comprising equipment execution instructions and robot execution instructions; control the at least one robot and the at least one experimental equipment to run according to the experimental process information.

9. An intelligent laboratory dynamic scheduling apparatus, characterized in that, The control console applied to an intelligent laboratory dynamic scheduling system, the intelligent laboratory dynamic scheduling system comprising the control console, at least one robot and at least one experimental equipment connected with the control console, the device comprising: a querying unit, configured to query whether a second task exists at a current time point when first information of a first task to be executed is received, the first information comprising a first priority identifier of the first task and a plurality of first node information of a single experiment in the first task, the node information comprising control information in a time period from the end of running of one experimental equipment to the end of running of a next experimental equipment, the control information comprising equipment control information and robot control information; The first acquisition unit is configured to acquire second information of the second task if the second task exists, the second information comprising second priority identification of the second task and a plurality of second node information of single experiment within the second task; The judgment unit is configured to, if it is determined according to the first information and the second information that the first task and the second task have the same priority level and there is at least one node using a shared experimental equipment between the first task and the second task, judge whether the type of the shared experimental equipment exists in a first type set, the first type set comprising the type of the experimental equipment which needs to replace consumable components when switching to perform different tasks; The searching unit is configured to search for a first calculation formula if the type of the shared experimental equipment exists in the first type set; The determination unit is configured to determine experimental procedure information according to the first calculation formula, the first information and the second information, the experimental procedure information comprising equipment execution instructions and robot execution instructions; The control unit is configured to control the at least one robot and the at least one experimental equipment to run according to the experimental procedure information.

10. An electronic device, comprising: The electronic device comprises: a processor and a memory, the memory being configured to store computer program code, the computer program code comprising computer instructions, and the electronic device being configured to execute the method according to any one of claims 1 to 7 when the processor executes the computer instructions.

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