Intelligent laboratory dynamic scheduling method, system, device and equipment

Abstract

The application provides a kind of intelligent laboratory dynamic scheduling method, system, device and equipment, method includes: when receiving the first information of first task to be executed, it is inquired whether there is second task in current time point;If there is second task, the second information of second task is obtained;If it is determined that the first task and the second task have the same priority level, there is at least one node using common experimental equipment between the first task and the second task, and the type of common experimental equipment exists in the first type set of consumable components that need to be replaced when switching to execute different tasks according to the first information and the second information, then find the first calculation formula;Determine the experimental process information according to the first calculation formula, the first information and the second information, and the experimental process information includes equipment execution instruction and robot execution instruction;According to experimental process information, at least one robot and at least one experimental equipment are controlled to run.In the application, the efficiency of multi-batch experiment execution is improved.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to an intelligent laboratory dynamic scheduling method, system, device and equipment. Background Technology

[0002] Automated laboratories primarily utilize advanced automation technologies, instruments, and control systems to automate experimental processes. Especially for large-scale, repetitive experiments, robots or robotic arms are typically introduced to assist in the operation, achieving unmanned operation and avoiding quality issues caused by prolonged manual labor. However, existing automated processes are prone to new experiments or equipment malfunctions, particularly in multi-batch experiments, which can lead to errors in the experimental procedure and even termination of the experiment. Summary of the Invention

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

[0004] In a first aspect, embodiments of this application provide an intelligent laboratory dynamic scheduling method, applied to the console of an intelligent laboratory dynamic scheduling system. The intelligent laboratory dynamic scheduling system includes the console, at least one robot and at least one experimental device connected to the console, and the method includes:

[0005] Upon receiving the first information of the first task to be executed, query whether there is a second task at the current time. The first information includes the first priority identifier of the first task and multiple first node information of a single experiment within the first task. The node information includes control information within the time period from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device control information and robot control information.

[0006] If the second task exists, then obtain the second information of the second task, which includes the second priority identifier of the second task and multiple second node information of a single experiment within the second task;

[0007] If, based on the first information and the second information, it is determined that the first task and the second task have the same priority level, and there is at least one node using shared experimental equipment between the first task and the second task, then it is determined whether the type of shared experimental equipment exists in the first type set. The first type set includes the type of experimental equipment that requires replacement of consumable parts when switching to execute different tasks.

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

[0009] Experimental process information is determined based on the first calculation formula, the first information, and the second information. The experimental process information includes equipment execution instructions and robot execution instructions.

[0010] The operation of at least one robot and at least one experimental device is controlled according to the experimental process information.

[0011] Secondly, embodiments of this application provide an intelligent laboratory dynamic scheduling system, including a console, at least one robot and at least one experimental device connected to the console, the console being used for:

[0012] Upon receiving the first information of the first task to be executed, query whether there is a second task at the current time. The first information includes the first priority identifier of the first task and multiple first node information of a single experiment within the first task. The node information includes control information within the time period from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device control information and robot control information.

[0013] If the second task exists, then obtain the second information of the second task, which includes the second priority identifier of the second task and multiple second node information of a single experiment within the second task;

[0014] If, based on the first information and the second information, it is determined that the first task and the second task have the same priority level, and there is at least one node using shared experimental equipment between the first task and the second task, then it is determined whether the type of shared experimental equipment exists in the first type set. The first type set includes the type of experimental equipment that requires replacement of consumable parts when switching to execute different tasks.

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

[0016] Experimental process information is determined based on the first calculation formula, the first information, and the second information. The experimental process information includes equipment execution instructions and robot execution instructions.

[0017] The operation of at least one robot and at least one experimental device is controlled according to the experimental process information.

[0018] Thirdly, embodiments of this application provide an intelligent laboratory dynamic scheduling device, applied to the console of an intelligent laboratory dynamic scheduling system. The intelligent laboratory dynamic scheduling system includes the console, at least one robot and at least one experimental device connected to the console, and the device includes:

[0019] The query unit is used to query whether a second task exists at the current time point when it receives the first information of the first task to be executed. The first information includes the first priority identifier of the first task and multiple first node information of a single experiment within the first task. The node information includes control information within the time period from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device control information and robot control information.

[0020] The first acquisition unit is used to acquire second information of the second task if the second task exists. The second information includes a second priority identifier of the second task and multiple second node information of a single experiment within the second task.

[0021] The judgment unit is configured to determine whether the type of the shared experimental equipment exists in a first type set if, based on the first information and the second information, it is determined that the first task and the second task have the same priority level and there is at least one node using shared experimental equipment between the first task and the second task. The first type set includes the type of experimental equipment that requires replacement of consumable parts when switching to execute different tasks.

[0022] The search unit is used to search for the first calculation formula if the type of the shared experimental equipment exists in the first type set;

[0023] A determining unit is configured to determine experimental process information based on the first calculation formula, the first information, and the second information, wherein the experimental process information includes equipment execution instructions and robot execution instructions;

[0024] A control unit is used to control the operation of at least one robot and at least one experimental device according to the experimental process information.

[0025] Fourthly, embodiments of this application provide an electronic device, including 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 include instructions for performing some or all of the steps described in the first aspect of embodiments of this application.

[0026] Fifthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, the computer program including program instructions that, when executed by a processor, cause the processor to perform some or all of the steps described in the first aspect.

[0027] Sixthly, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of embodiments of this application. The computer program product may be a software installation package.

[0028] In this embodiment, when the console receives the first information of the first task to be executed, it queries whether a second task exists at the current time. The first information includes the first priority identifier of the first task and multiple first node information for a single experiment within the first task. The node information includes control information for the period from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device control information and robot control information. If a second task exists, the second information of the second task is obtained. The second information includes the second priority identifier of the second task and multiple second node information for a single experiment within the second task. If, based on the first and second information, it is determined that the first task and the second task have the same priority level, and there is at least one node using a shared experimental device between the first and second tasks, it is determined whether the type of shared experimental device exists in a first type set. The first type set includes types of experimental devices that require replacement of consumable parts when switching between different tasks. If the type of shared experimental device exists in the first type set, a first calculation formula is searched. Experimental process information is determined based on the first calculation formula, the first information, and the second information. The experimental process information includes device execution instructions and robot execution instructions, improving the rationality and accuracy of the determined execution instructions. At least one robot and at least one experimental device are controlled to operate based on the experimental process information. In this application, when an insertion task is determined, the scheduling is determined based on the task information to improve the rationality of the scheduling and thus improve the efficiency of the experiment execution. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the structure of an intelligent laboratory dynamic scheduling system provided in this application embodiment;

[0031] Figure 2 A flowchart illustrating an intelligent laboratory dynamic scheduling method provided in this application embodiment;

[0032] Figure 3 A schematic diagram illustrating how a robot's manipulator places an experimental object on a placement platform, as provided in an embodiment of this application;

[0033] Figure 4 A schematic diagram illustrating robot movement provided in an embodiment of this application;

[0034] Figure 5 This application provides a schematic diagram of a robot transfer method as an embodiment of the present application.

[0035] Figure 6 A functional unit block diagram of an intelligent laboratory dynamic scheduling device provided in this application embodiment;

[0036] Figure 7 This is a schematic diagram of the structure of a console provided in an embodiment of this application. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0038] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0039] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0040] For details, please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of an intelligent laboratory dynamic scheduling system provided in an embodiment of this application. Figure 1 As shown, the intelligent laboratory dynamic scheduling system includes a console, at least one robot connected to the console, and at least one experimental device. This enables data interaction between the console and the at least one robot, and between the console and the at least one experimental device. The at least one robot may include a first robot, a second robot, ..., an Nth robot; the number of robots is not limited here. The at least one experimental device may include a first experimental device, a second experimental device, ..., an Mth experimental device; the specific number of experimental devices is not limited here.

[0041] At least one of the robots includes a humanoid robot. This humanoid robot is a hybrid bipedal and wheeled robot to adapt to different laboratory environments. It can use wheels for movement in flat and open areas to increase speed, and bipedal movement in narrow or climbing areas to adapt to different terrains and improve its versatility. Furthermore, the distance between the robot's legs is adjustable to accommodate roads of varying widths. The robot's robotic arm includes a shoulder, elbow, and wrist to enhance its dexterity. The robot's robotic hand is replaceable via magnetic attachment. Specifically, the robotic hand includes an electric gripper and a humanoid robotic hand, which can be replaced according to the operations required during the experiment. When performing operations requiring force, such as transferring orifice plates, an electric gripper can be used to improve grip stability. When performing operations such as grasping test tubes, a humanoid robotic hand is used to improve control precision. Specifically, before executing a task, information corresponding to the task is obtained to determine the relevant experimental equipment. Based on the experimental equipment, the required operations are determined, and the robot's robotic hand is replaced accordingly to ensure efficient task execution.

[0042] Please see Figure 2 , Figure 2 This is a flowchart illustrating an intelligent laboratory dynamic scheduling method provided in an embodiment of this application. Figure 2 As shown, an intelligent laboratory dynamic scheduling method is applied to the console of an intelligent laboratory dynamic scheduling system. The intelligent laboratory dynamic scheduling system includes the console, at least one robot and at least one experimental device connected to the console, and the method includes:

[0043] S201, upon receiving the first information of the first task to be executed, query whether there is a second task at the current time.

[0044] The first information includes a first priority identifier for the first task and multiple first node information for a single experiment within the first task. The node information includes control information for a period of time from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device control information and robot control information.

[0045] Specifically, when the console receives the first information of the first task to be executed, it queries whether a second task exists at the current time to determine whether the first task is an intervening task. In this application, the same task can include multiple experiments, with identical node information between every two experiments. The number of batches of experiments executed within a task is set according to actual needs and is not limited here. By promptly determining whether the first task is an intervening task, data support is provided for subsequent scheduling.

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

[0047] The second information includes the second priority identifier of the second task and multiple second node information of a single experiment within the second task. If a second task is detected, the second information of the second task is obtained to provide data support for subsequent scheduling.

[0048] S203, if it is determined from 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 shared experimental equipment between the first task and the second task, then determine whether the type of shared experimental equipment exists in the first type set.

[0049] The first type set includes types of experimental equipment that require replacement of consumable components when switching between 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. Based on the first and second priority identifiers, it is determined that the first and second tasks have the same priority level. Furthermore, based on the first and second information, it is determined that there are nodes using shared experimental equipment between the first and second tasks. Then, it is further determined whether the type of shared experimental equipment exists in the first type set. Shared experimental equipment refers to the same experimental equipment. That is, it is determined whether the shared experimental equipment is the type of experimental equipment that requires replacement of consumable components when switching between tasks. For example, if the shared experimental equipment needs to perform the operation of stirring experimental samples, to avoid contamination of the samples by samples from other tasks, the stirring rod of the shared experimental equipment needs to be replaced during the switch from one task to another to ensure the success rate of the experiment. If the number of identified shared experimental equipment is greater than one, it is determined whether the type of each shared experimental equipment exists in the first type set. If at least one type of shared experimental equipment exists in the first type set, the step of searching for the first calculation formula is executed. By determining whether the shared experimental equipment is the type of experimental equipment that requires replacement of consumable components, the rationality of subsequent scheduling is improved. If it is determined that the first task and the second task have different priorities, and it is determined, based on the first and second information, that there are nodes sharing experimental equipment between the first and second tasks, then the task with the higher priority will be executed first. If it is determined that the first task and the second task have different priorities, and it is determined, based on the first and second information, that there are no nodes sharing experimental equipment between the first and second tasks, then the first and second tasks will be executed in parallel.

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

[0051] Specifically, when it is determined that the type of shared experimental equipment exists within the first type set, the first pre-stored calculation formula is obtained to provide data support for subsequent scheduling.

[0052] S205, determine the experimental procedure information based on the first calculation formula, the first information, and the second information.

[0053] The experimental process information includes equipment execution instructions and robot execution instructions. The experimental process information is determined based on a first calculation formula, first information, and second information. This information, including equipment execution instructions and robot execution instructions, controls the experimental equipment and robot respectively, improving control accuracy.

[0054] S206, control the operation of at least one robot and at least one experimental device according to the experimental process information.

[0055] Among them, after determining the experimental process information, at least one experimental device is controlled to operate according to the device execution instructions, and at least one robot is controlled to operate according to the robot execution instructions.

[0056] As can be seen in this example, when a task is identified as interfering in the queue, scheduling can be performed by combining different information about different tasks to avoid task conflicts, improve the rationality of scheduling, and thus improve the efficiency of experiment execution.

[0057] In one possible example, determining the experimental process information based on the first calculation formula, the first information, and the second information includes: acquiring the plurality of first node information within the first information and the first total number of experiments within the first task; determining the first interval duration and the first processing duration corresponding to the shared experimental equipment based on the plurality of first node information, wherein the interval duration represents the interval duration between the shared experimental equipment receiving two adjacent experimental items in the same task, and the processing duration represents the processing duration of the shared experimental equipment in a single node of the task; acquiring the plurality of second node information within the second information and the second total number of experiments within the second task; and determining the shared experimental equipment based on the plurality of second node information. The second interval duration and the second processing duration; obtain the first benefit of a single experiment within the first task and the second benefit of a single experiment within the second task; determine the first execution count of the experiment in the first task and the second execution count of the experiment in the second task within a preset duration based on the shared experimental equipment, the first calculation formula, the first total number of times, the second total number of times, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first benefit, and the second benefit; determine the experimental process information based on the first execution count, the second execution count, the first total number of times, the second total number of times, the multiple first node information, and the multiple second node information. The first calculation formula is: F = max(∑ n∈ N C n X n );in, The a nm The interval duration and processing time corresponding to the m-th shared experimental equipment in the n-th task are the sum of the interval duration and processing time, where T is the preset duration, and a is the preset duration. nm Greater than or equal to zero, where m ∈ M, and M is the set of shared experimental equipment; F is the maximum benefit obtainable by performing the task, and C... n To calculate the benefit of a single experiment within the nth task, the C n Greater than or equal to zero; the X nX is the number of times the experiment is executed within the nth task, where n ∈ N, and N is the set consisting of the first task and the second task. n Greater than or equal to zero, and the X n Less than or equal to Q n The Q n This represents the total number of experiments corresponding to the nth task.

[0058] In a specific example, the number of times an experiment needs to be executed differs within different tasks. The system obtains multiple first node information and the first total number of experiments within the first task, where the first total number represents the number of execution batches for the experiments within the first task. It also obtains multiple second node information and the second total number of experiments within the second task, where the second total number represents the number of execution batches for the experiments within the second task. The node information includes control information for the time period from the end of operation of one experimental device to the end of operation of the next experimental device, and this control information includes device control information and robot control information.

[0059] The equipment control information includes the identifier of the experimental equipment, the runtime of the experimental equipment in the task node, and the equipment control parameters. For example, if the experimental equipment used in this node of the task is a centrifuge, then the equipment control parameters include the runtime of the centrifuge and the rotation speed during centrifugation. The robot control information includes the type of robot required in the task node, the action data that the robot needs to perform, and the experimental equipment that the robot docks with. The first processing time and the first interval time are determined based on the multiple robot control information and multiple equipment control information within the multiple first node information.

[0060] The process involves determining the first processing time and the first interval time based on multiple robot control information and multiple device control information within multiple first node information. This includes: obtaining the robot type, the robot's required action data, and the experimental equipment docked with the robot within the robot control information corresponding to a single node; obtaining the robot's moving speed based on the robot type; determining the robot's moving distance within that node based on the docked experimental equipment; and determining the robot's movement time based on the robot's moving speed and moving distance. Matching the corresponding transfer time from a preset database based on the robot type and docked experimental equipment, this transfer time is the time required for the robot to place materials into the experimental equipment and remove the processed experimental item from the experimental equipment. The preset database has pre-set correspondences between different types of robots, different docked experimental equipment, and different transfer times. Obtaining the identifier of the experimental equipment, the runtime of the experimental equipment in that task node, and the equipment control parameters within the device control information corresponding to a single node. The first processing time is the sum of the transfer time and runtime corresponding to the first node where the shared experimental equipment is located. Calculate the sum of the movement time and the first processing time for each first node, determine the first node preceding the node containing the shared experimental equipment, and then find the target first node with the largest sum of movement time and first processing time. The sum of the movement time and first processing time of the target first node is determined as the first interval duration. Similarly, determine the second processing time and the second interval duration based on multiple robot control information and multiple device control information within multiple second node information. Additionally, obtain the first benefit of a single experiment within the first task and the second benefit of a single experiment within the second task.

[0061] Specifically, the first calculation formula is: F = max(∑ n∈N C n X n Furthermore, X in the first calculation formula n satisfy Among them, a nm This is the sum of the interval duration and processing time corresponding to the m-th shared experimental equipment in the n-th task, where T is the preset duration, and a nm Greater than or equal to zero, m∈M, M is the set of shared experimental equipment, that is, the set formed by labeling the shared experimental equipment; F is the maximum benefit that can be obtained by performing the task, C n To calculate the benefit of a single experiment within the nth task, C n Greater than or equal to zero; X n Let X be the number of times the experiment is executed within the nth task, where n ∈ N, and N is the set consisting of the first and second tasks, i.e., the set after the task labels. For example, X1 represents the number of times the first task is executed. And X... n X is greater than or equal to zero. n Less than or equal to Q n Q nThis represents the total number of experiments corresponding to the nth task. Based on the shared experimental equipment, the first calculation formula, the first total number of experiments, the second total number of experiments, the first interval duration, the second interval duration, the first processing time, the second processing time, the first benefit, and the second benefit, determine the first execution count of the experiment for the first task and the second execution count of the experiment for the second task within the preset time period. For example, if the shared experimental equipment for the first and second tasks includes two shared experimental devices, namely the first shared experimental device and the second shared experimental device, 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 This 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 a is the sum of the first interval duration and the first processing duration corresponding to the second shared experimental equipment in the first task. 21 This 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 This 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, and Q1 is the first total quantity; X2 is greater than or equal to zero, X2 is less than or equal to Q2, and Q2 is the second total quantity. C1 is the profit of a single experiment in the first task, and C2 is the profit of a single experiment in the second task. Determine X1 and X2 corresponding to obtaining the maximum F. X1 is the first execution count corresponding to the first task within the preset duration, and X2 is the second execution count corresponding to the second task within the preset duration. Different F values ​​are obtained based on different combinations of X1 and X2. The X1 corresponding to the maximum F is determined as the first execution count, and X2 is determined as the second execution count.

[0062] Finally, the experimental process information is determined based on the first execution count, the second execution count, the first total count, the second total count, multiple first node information, and multiple second node information. Specifically, within a preset time period, the first task and the second task can be prioritized for execution before the other task is executed. A first quantity value is determined based on the first execution count and the first total count to determine the preset time required to complete the experiment in the first task. A second quantity value is determined based on the second execution count and the second total count to determine the preset time required to complete the experiment in the second task. The first quantity value and the second quantity value are compared, and the smaller quantity value is determined as the target quantity value. During scheduling, within the total time period corresponding to the target quantity value and the preset time period, the experiments of the first task with the first execution count and the experiments of the second task with the second execution count are cross-scheduled. That is, after each execution of the experiment in the first task with the first execution count, the experiment in the second task with the second execution count is executed, or after each execution of the experiment in the second task with the second execution count, the experiment in the first task with the first execution count is executed. If the first quantity value is less than the second quantity value, continue scheduling experiments in the first task until the number of experiments in the first task equals the first total number of experiments. Then, continue scheduling experiments in the second task until the number of experiments in the second task equals the second total number of experiments. If the second quantity value is less than the first quantity value, continue scheduling experiments in the second task until the number of experiments in the second task equals the second total number of experiments. Then, continue scheduling experiments in the first task until the number of experiments in the first task equals the first total number of experiments.

[0063] As can be seen, in this example, the number of times different tasks are executed within a preset time period is calculated based on the first calculation formula in order to generate more reasonable experimental process information.

[0064] In one possible example, if it is determined based on 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 shared experimental equipment between the first task and the second task, then determining whether the type of the shared experimental equipment exists after the first type set, the method further includes: if the type of the shared experimental equipment does not exist in the first type set, then determining the third interval duration and the third processing duration corresponding to the shared experimental equipment in the first task based on multiple first node information; determining the fourth interval duration and the fourth processing duration corresponding to the shared experimental equipment in the second task based on the multiple second node information; if the third interval duration is less than the fourth processing duration, and the fourth interval duration is less than the third processing duration, then generating execution information to control the shared experimental equipment to cross-execute experiments in the first task and experiments in the second task; obtaining the third total number of experiments in the first task within the first information and the fourth total number of experiments in the second task within the second information; determining the experimental process information based on the third total number, the fourth total number, the execution information, the multiple first node information, and the multiple second node information.

[0065] In a specific example, if the type of shared experimental equipment does not exist in the first type set, that is, when the shared experimental equipment switches tasks, there is no need to replace consumable parts, then the third interval duration and the third processing duration corresponding to the shared experimental equipment in the first task are determined based on multiple first node information; and the fourth interval duration and the fourth processing duration corresponding to the shared experimental equipment in the second task are determined based on multiple second node information.

[0066] Specifically, the third processing time and the third interval time are determined based on multiple robot control information and multiple device control information within multiple first node information. Specifically, the robot type, the required robot action data, and the experimental equipment docked with the robot are obtained from the robot control information corresponding to a single node. The robot's moving speed is obtained based on the robot type, the robot's moving distance within that node is determined based on the docked experimental equipment, and the robot's movement time is determined based on the robot's moving speed and moving distance. The corresponding transfer time is matched from a preset database based on the robot type and the docked experimental equipment. This transfer time is the time required for the robot to place materials into the experimental equipment and the time required to remove the processed experimental item from the experimental equipment. The preset database has pre-set correspondences between different robot types, different docked experimental equipment, and different transfer times. The identifier of the experimental equipment, the runtime of the experimental equipment in the task node, and the equipment control parameters are obtained from the device control information. The third processing time is the sum of the transfer time and runtime corresponding to the shared experimental equipment. Calculate the sum of the movement time and the third processing time for each first node, determine the first node preceding the node containing the shared experimental equipment, find the target first node with the largest sum of movement time and third processing time, and determine the sum of the movement time and third processing time of the target first node corresponding to the largest sum as the third interval duration. Similarly, determine the fourth processing time and the fourth interval duration based on multiple robot control information and multiple device control information within multiple 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 time spent using the shared experimental equipment in the first task is greater than the time it takes for materials to arrive at the shared experimental equipment in the second task), then execution information is generated to control the shared experimental equipment to cross-execute the experiments of the first and second tasks. This ensures that after the shared experimental equipment executes the task corresponding to a single experiment of the first task, the corresponding materials for the second task arrive at the shared experimental equipment, allowing the shared experimental equipment to immediately process the experiment corresponding to the second task, thus improving the utilization rate and processing efficiency of the experimental equipment. Then, the third total number of experiments corresponding to the first task within the first information and the fourth total number of experiments corresponding to the second task within the second information are obtained. The experimental process information is determined based on the third total number, the fourth total number, the execution information, multiple first node information, and multiple second node information. For example, the first number of times the first target node needs to be executed on the shared experimental equipment within the first task is determined based on the third total number of times, where the first target node is the node that needs to share the experimental equipment; the second number of times the second target node needs to be executed on the shared experimental equipment within the second task is determined based on the fourth total number of times, where the second target node is the node that needs to share the experimental equipment; the scheduling between the first target node and the second target node on the shared experimental equipment is determined based on 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 interleaved to execute the tasks required by the experimental equipment corresponding to the first target node and the tasks required by the experimental equipment corresponding to the second target node. Based on the scheduling on the shared experimental equipment, multiple first node information, and multiple second node information, the task scheduling of other experimental equipment in the first task and the task scheduling of the robot are determined, as are the task scheduling of other experimental equipment in the second task and the task scheduling of the robot.

[0068] If the third interval duration is greater than or equal to the fourth processing duration, then the first task is taken as the main task. Reference experimental procedure information is generated based on the first information of the first task, and the idle time slots corresponding to the shared experimental equipment within the reference experimental procedure information are determined. The duration of these idle time slots is the same as the third interval duration. Each idle time slot is then arranged for the shared experimental equipment to process the second task's experiment. Experimental procedure information is generated based on the determined idle time slots, the reference experimental procedure information, and the second information. If the fourth interval duration is greater than or equal to the third processing duration, then the second task is taken as the main task. Reference experimental procedure information is generated based on the second information of the second task, and the idle time slots corresponding to the shared experimental equipment within the reference experimental procedure information are determined. The duration of these idle time slots is the same as the fourth interval duration. Each idle time slot is then arranged for the shared experimental equipment to process the first task's experiment. The generation of experimental procedure information based on the determined idle time slots, the reference experimental procedure information, and the first information saves time and improves production efficiency.

[0069] As can be seen in this example, if there is a first type set of shared experimental equipment, the experimental process information is determined according to the interval and processing time of the shared experimental equipment in different tasks, so that the time arrangement is more reasonable and the scheduling is more reasonable.

[0070] In one possible example, if the number of shared experimental devices is greater than one, the interval duration and processing time corresponding to each shared experimental device in different tasks are obtained, and the interval duration and processing time of the same shared experimental device in different tasks are compared. Based on the comparison results of the same shared experimental device, the experimental process from the node where the previous shared experimental device is located to the corresponding node of the current shared experimental device is determined. For example, if the interval duration corresponding to the first task of the first shared experimental device is greater than or equal to its running time in the second task, the first task is taken as the main task, and the time period in which the interval duration of the first shared experimental device in the first task is set as the time period in which the running time of the second task is located. The reference experimental process information is determined based on the node information from the start node to the node where the first shared experimental device is located in the first task, the node information from the start node to the node where the first shared experimental device is located in the second task, and the total number of experiments corresponding to each task. Then, the interval duration and running time corresponding to the second shared experimental device are determined based on the information from the node where the first shared experimental device is located to the node where the second shared experimental device is located in the first task, and the interval duration and running time corresponding to the second shared experimental device are determined based on the information from the node where the first shared experimental device is located to the node where the second shared experimental device is located in the second task. If the interval duration of a second shared laboratory device in the first task is shorter than its runtime in the second task, and the interval duration in the second task is shorter than its runtime in the first task, then execution information is generated showing that the second shared laboratory device performs experiments in both the first and second tasks concurrently. Experimental procedure information is then generated based on the total number of experiments for each task, the node information following the node containing the first shared laboratory device in the first task, the node information following the node containing the first shared laboratory device in the second task, the execution information, and the reference experimental procedure information. This improves the rationality of the determined experimental procedure information.

[0071] In one possible example, after controlling the operation of the at least one robot and the at least one experimental device according to the experimental process information, the method further includes: receiving detection information at the current node sent by the first experimental device among the at least one experimental device; obtaining preset detection information of the first experimental device at the current node; determining whether the experimental product obtained by the first experimental device at the current node is qualified according to the detection information and the preset detection information; if the experimental product is unqualified, obtaining a waste disposal instruction corresponding to the current node, the waste disposal instruction being used to control the robot at the current node to transfer the failed experimental product produced at the current node to a waste bin; and controlling the robot corresponding to the current node to transfer the failed experimental product to a waste bin according to the waste disposal instruction.

[0072] In a specific example, after the first experimental device in at least one experimental setup completes its operation at each node, it collects the detection information of the experimental product at the current node and sends it to the console. The console receives the detection information sent by the first experimental device at the current node and obtains the preset detection information of the first experimental device at the current node. Based on the detection information and the preset detection information, it determines whether the experimental product obtained by the first experimental device at the current node is qualified. If the experimental product is unqualified, it obtains the waste disposal instruction corresponding to the current node. The waste disposal instruction is used to control the robot at the current node to transfer the failed experimental product produced at the current node to the waste bin. If the experimental product is qualified, it proceeds to the processing step of the next node.

[0073] As can be seen in this example, when the experimental product is detected to be defective, the robot is controlled to execute the waste disposal instruction to stop the loss in time, ensure the quality of the experimental product, and improve the intelligence of the production process.

[0074] In one possible example, after controlling the robot corresponding to the current node to transfer the failed experiment to the waste bin according to the waste disposal instruction, the method further includes: obtaining the operation process information of the first experimental device at the current node; searching for the target device execution instruction of the first experimental device at the current node from the experimental process information; determining whether the operation performed by the first experimental device is correct according to the operation process information and the target device execution instruction; if the operation performed by the first experimental device is correct, obtaining the number of robot tasks to be executed for each of the at least one robot, obtaining a task quantity set composed of the number of robot tasks to be executed, wherein the robot tasks to be executed are generated according to the robot execution instruction; identifying the robot with the fewest number of robot tasks to be executed in the task quantity set as the maintenance robot; obtaining the 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 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 transfers the failed experimental sample to the waste bin according to the waste disposal instruction, the operation process information of the first experimental device at the current node is obtained. The target device execution instruction for the first experimental device at the current node is searched from the experimental process information. Based on the target device execution instruction, the operation set for the experimental device is determined. If the operation in the operation process information is the same as the operation set in the target device execution instruction, the first experimental device is determined to have performed the operation correctly, and therefore the experimental device is normal. If the operation in the operation process information is different from the operation set in the target device execution instruction, the first experimental device is determined to have performed the operation incorrectly, and therefore the experimental device is determined to be abnormal. A device maintenance request is then sent to the control console to request the user on the control console to repair the experimental device in a timely manner, improving production efficiency. For example, if the operation process information records that the number of times the experimental sample was stirred is 20, and the target device execution instruction sets the number of times the experimental sample was stirred to 20, then the first experimental device is determined to have performed the operation correctly. If the target device execution instruction sets the number of times the experimental sample was stirred to 22, which is different from the 20 times recorded in the operation process information, then the first experimental device is determined to have performed the operation incorrectly. If the first experimental device performs the operation correctly, the number of robot tasks to be executed for each of at least one robot is obtained, resulting in a task quantity set consisting of the number of robot tasks to be executed. The robot with the fewest robot tasks to be executed in the task quantity set is identified as the maintenance robot. The cleaning command corresponding to the target experimental device is then obtained and sent to the maintenance robot to enable the maintenance robot to clean the first experimental device.

[0076] As can be seen from this example, when unqualified test samples are found, 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 and third experimental devices complete operation simultaneously, the robot with the fewest tasks (excluding the transfer robot) is selected from at least one robot to perform the transfer task. After cleaning the first experimental device, the maintenance robot transfers the experimental items corresponding to the second experimental device from the placement platform to the next experimental device corresponding to the second experimental device, or transfers the experimental items corresponding to the third experimental device to the next experimental device corresponding to the third experimental device, saving processing time and improving processing efficiency.

[0079] In one possible example, before querying whether a second task exists at the current time point upon receiving first information about a first task to be executed, the method includes: obtaining the width value of the passageway between every two adjacent experimental devices in the at least one experimental device, and 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 two legs of each robot in the at least one robot according to the minimum width value.

[0080] In a specific example, before receiving the first information about the first task to be executed, a LiDAR scanner is used to scan the laboratory space, creating a 3D map including equipment locations and aisle widths. This determines the coordinates of each experimental device within at least one experimental setup, and the width of the path between every two adjacent experimental devices is obtained. The minimum width value within the set of path width values ​​is then found. Based on this minimum width value, the width between the legs of each robot in at least one robot is adjusted. Furthermore, the robot can be equipped with anti-collision buffer devices as needed, with a contact force threshold of 20N to protect the robot. (See also...) Figure 4 , Figure 4 This is a schematic diagram illustrating robot movement as provided in an embodiment of this application. Figure 4 As shown, the path in the laboratory sequentially passes through the first experimental device, the third experimental device, and the second experimental device. If the collected path widths d1, d2, and d3 are 60 cm, d2, 50 cm, and d3, 25 cm, then the width between the legs of at least one robot is adjusted according to the path width corresponding to d3. Specifically, the distance d4 between the robot's legs at the current time point is collected, and d4 is adjusted to the value corresponding to d3, which is 25 cm. This ensures the safety of the robot during operation.

[0081] As can be seen in this example, the distance between the robot's two feet is adaptively adjusted according to the road width to improve 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 primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. 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 this application.

[0085] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0086] When dividing functional modules according to their respective functions, the following is combined with... Figure 6 The intelligent laboratory dynamic scheduling device in the embodiments of this application will be described in detail. Figure 6 A functional unit block diagram of an intelligent laboratory dynamic scheduling device provided in this application embodiment. An intelligent laboratory dynamic scheduling device is applied to the control console of an intelligent laboratory dynamic scheduling system. The intelligent laboratory dynamic scheduling system includes the control console, at least one robot and at least one experimental device connected to the control console. The device includes:

[0087] The query unit 601 is used to query whether there is a second task at the current time point when it receives the first information of the first task to be executed. The first information includes the first priority identifier of the first task and multiple first node information of a single experiment within the first task. The node information includes control information within the time period from the end of the operation of one experimental device to the end of the operation of the next experimental device. The control information includes device control information and robot control information.

[0088] The first acquisition unit 602 is used to acquire second information of the second task if the second task exists. The second information includes a second priority identifier of the second task and multiple second node information of a single experiment within the second task.

[0089] The judgment unit 603 is configured to determine whether the type of the shared experimental equipment exists in a first type set if it is determined from 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 shared experimental equipment between the first task and the second task. The first type set includes the type of experimental equipment that requires replacement of consumable parts when switching to execute different tasks.

[0090] The lookup unit 604 is used to look up the first calculation formula if the type of the shared experimental equipment exists in the first type set;

[0091] The determining unit 605 is configured to determine experimental process information based on the first calculation formula, the first information, and the second information, wherein the experimental process information includes equipment execution instructions and robot execution instructions.

[0092] Control unit 606 is used to control the operation of at least one robot and at least one experimental device according to the experimental process information.

[0093] In one possible example, the determining unit 605 is configured to: acquire the plurality of first node information within the first information and the first total number of experiments within the first task; and determine, based on 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 the interval duration between the shared experimental equipment receiving two adjacent experimental items in the same task, and the processing duration represents the processing duration of the shared experimental equipment in a single node of the task; and acquire the plurality of second node information within the second information and the second total number of experiments within the second task; and determine, based on the plurality of second node information, a second interval duration and a second processing duration of the shared experimental equipment. Duration; and obtaining the first benefit of a single experiment within the first task and the second benefit of a single experiment within the second task; and determining the first execution count of the experiment in the first task and the second execution count of the experiment in the second task within a preset duration based on the shared experimental equipment, the first calculation formula, the first total number of times, the second total number of times, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first benefit, and the second benefit; and determining the experimental process information based on the first execution count, the second execution count, the first total number of times, the second total number of times, the multiple first node information, and the multiple second node information.

[0094] In one possible example, the first calculation is: F = max(Σ n∈N C n X n );in, The anm The interval duration and processing time corresponding to the m-th shared experimental equipment in the n-th task are the sum of the interval duration and processing time, where T is the preset duration, and a is the preset duration. nm Greater than or equal to zero, where m ∈ M, and M is the set of shared experimental equipment; F is the maximum benefit obtainable by performing the task, and C... n To calculate the benefit of a single experiment within the nth task, the C n Greater than or equal to zero; the X n X is the number of times the experiment is executed within the nth task, where n ∈ N, and N is the set consisting of the first task and the second task. n Greater than or equal to zero, and the X n Less than or equal to Q n The Q n This represents the total number of experiments corresponding to the nth task.

[0095] In one possible example, the device further includes 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 based on multiple first node information; and determine a fourth interval duration and a fourth processing duration corresponding to the shared experimental equipment in the second task based on the multiple 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 within the first information and a fourth total number of experiments in the second task within the second information; and determine the experimental process information based on the third total number of experiments, the fourth total number of experiments, the execution information, the multiple first node information, and the multiple second node information.

[0096] In one possible example, the device further includes a receiving unit, configured to receive detection information sent by a first experimental device at the current node; acquire preset detection information of the first experimental device at the current node; determine whether the experimental product obtained by the first experimental device at the current node is qualified based on the detection information and the preset detection information; and if the experimental product is unqualified, acquire a waste disposal instruction corresponding to the current node, the waste disposal instruction being used to control the robot at the current node to transfer the failed experimental product produced at the current node to a waste bin; and control the robot corresponding to the current node to transfer the failed experimental product to a waste bin according to the waste disposal 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 be, for example, 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 devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, units, and circuits described in conjunction with the disclosure of this application. The processor 701 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication unit may be a communication module 702, a transceiver, a transceiver circuit, etc., and the storage unit may be a memory 703.

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

[0103] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as 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, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0104] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.

[0105] This application also provides a computer program product, which includes a computer program 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 may be a software installation package, and the aforementioned computer includes electronic devices.

[0107] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and other division methods may exist in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0109] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0110] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0111] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0112] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. An intelligent laboratory dynamic scheduling method, characterized in that, A console for an intelligent laboratory dynamic scheduling system, the intelligent laboratory dynamic scheduling system including the console, at least one robot and at least one experimental device connected to the console, the method comprising: Upon receiving the first information of the first task to be executed, query whether there is a second task at the current time. The first information includes the first priority identifier of the first task and multiple first node information of a single experiment within the first task. The node information includes control information within the time period from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device control information and robot control information. If the second task exists, then obtain the second information of the second task, which includes the second priority identifier of the second task and multiple second node information of a single experiment within the second task; If, based on the first information and the second information, it is determined that the first task and the second task have the same priority level, and there is at least one node using shared experimental equipment between the first task and the second task, then it is determined whether the type of shared experimental equipment exists in the first type set. The first type set includes the type of experimental equipment that requires replacement of consumable parts when switching to execute different tasks. If the type of the shared experimental equipment exists in the first type set, then the first calculation formula is searched, and the first calculation formula is: ; in, The For the first The first in the mission The sum of the interval duration and processing time corresponding to the shared experimental equipment, the For a preset duration, the Greater than or equal to zero, the The The set of shared experimental equipment; To maximize the benefits that can be obtained by performing the task, the To execute the first The benefit of a single experiment within the task, the stated Greater than or equal to zero; the For the first The number of times the in-task experiment is executed, the The The set consisting of the first task and the second task, the Greater than or equal to zero, and the Less than or equal to The For the first The total number of experiments corresponding to the task; Experimental process information is determined based on the first calculation formula, the first information, and the second information. This experimental process information includes equipment execution instructions and robot execution instructions, including: Obtain the information of multiple first nodes within the first information and the first total number of experiments within the first task; The first interval duration and the first processing duration corresponding to the shared experimental equipment are determined based on the multiple first node information. The interval duration represents the interval duration between the shared experimental equipment receiving two adjacent experimental items in the same task, and the processing duration represents the processing duration of the shared experimental equipment in a single node of the task. Obtain the multiple second node information within the second information and the second total number of experiments within the second task; The second interval duration and the second processing duration of the shared experimental equipment are determined based on the information from the multiple second nodes. Obtain the first benefit of a single experiment within the first task and the second benefit of a single experiment within the second task; Based on the shared experimental equipment, the first calculation formula, the first total number of times, the second total number of times, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first benefit, and the second benefit, determine the first number of times the experiment of the first task is executed and the second number of times the experiment of the second task is executed within the preset duration; The experimental process information is determined based on the first execution count, the second execution count, the first total count, the second total count, the plurality of first node information, and the plurality of second node information; The operation of at least one robot and at least one experimental device is controlled according to the experimental process information.

2. The method according to claim 1, characterized in that, If, based on the first information and the second information, it is determined that the first task and the second task have the same priority level, and there is at least one node using shared experimental equipment between the first task and the second task, then determining whether the type of shared experimental equipment exists after the first type set, the method further includes: If the type of the shared experimental equipment does not exist in the first type set, then the third interval duration and the third processing duration corresponding to the shared experimental equipment in the first task are determined based on multiple first node information. Based on the information from the multiple second nodes, determine the fourth interval duration and the fourth processing duration corresponding to the shared experimental equipment within the second task; If the third interval duration is less than the fourth processing duration, and the fourth interval duration is less than the third processing duration, then execution information is generated to control the shared experimental equipment to cross-execute the experiments within the first task and the experiments within the second task. Obtain the third total number of experiments within the first task in the first information and the fourth total number of experiments within the second task in the second information; The experimental process information is determined based on the third total number of times, the fourth total number of times, the execution information, the multiple first node information, and the multiple second node information.

3. The method according to claim 1 or 2, characterized in that, After controlling the operation of the at least one robot and the at least one experimental device according to the experimental process information, the method further includes: Receive detection information at the current node sent by the first experimental device among the at least one experimental devices; Obtain the preset detection information of the first experimental device at the current node; Based on the detection information and the preset detection information, determine whether the experimental sample obtained by the first experimental device at the current node is qualified; If the experimental product is unqualified, a waste disposal instruction corresponding to the current node is obtained. The waste disposal instruction is used to control the robot of the current node to transfer the failed experimental product produced by the current node to the waste bin. According to the waste disposal instruction, the robot corresponding to the current node is controlled to transfer the failed experimental product to the waste bin.

4. The method according to claim 3, characterized in that, After controlling the robot corresponding to the current node to transfer the failed experiment to the waste bin according to the waste disposal instruction, the method further includes: Obtain the operation process information of the first experimental device at the current node; Find the instruction to be executed by the first experimental device at the target device in the current node from the experimental process information; Based on the operation process information and the target device execution instructions, determine whether the first experimental device performed the operation correctly; If the first experimental device performs the operation correctly, the number of robot tasks to be executed for each of the at least one robot is obtained, and a task quantity set consisting of the number of robot tasks to be executed is obtained. The robot tasks to be executed are generated according to the robot execution instructions. The robot with the fewest number of robot tasks to be executed in the set of task quantities is identified as the maintenance robot; Obtain the cleaning instruction corresponding to the first experimental device, the cleaning instruction being used to instruct the robot to clean the first experimental device; The maintenance robot is controlled to clean the first experimental equipment according to the cleaning command.

5. The method according to claim 1 or 2, characterized in that, Before querying whether a second task exists at the current time point after receiving the first information of the first task to be executed, the method includes: Obtain the width value of the passageway between every two adjacent experimental devices in the at least one experimental device, and obtain a set of path width values ​​composed of the width values; Find the minimum width value within the set of path width values; The width between the two legs of each robot in the at least one robot is adjusted according to the minimum width value.

6. An intelligent laboratory dynamic scheduling system, characterized in that, Includes a console, at least one robot connected to the console, and at least one experimental device, the console being used for: Upon receiving the first information of the first task to be executed, query whether there is a second task at the current time. The first information includes the first priority identifier of the first task and multiple first node information of a single experiment within the first task. The node information includes control information within the time period from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device control information and robot control information. If the second task exists, then obtain the second information of the second task, which includes the second priority identifier of the second task and multiple second node information of a single experiment within the second task; If, based on the first information and the second information, it is determined that the first task and the second task have the same priority level, and there is at least one node using shared experimental equipment between the first task and the second task, then it is determined whether the type of shared experimental equipment exists in the first type set. The first type set includes the type of experimental equipment that requires replacement of consumable parts when switching to execute different tasks. If the type of the shared experimental equipment exists in the first type set, then the first calculation formula is searched, and the first calculation formula is: ; in, The For the first The first in the mission The sum of the interval duration and processing time corresponding to the shared experimental equipment, the For a preset duration, the Greater than or equal to zero, the The The set of shared experimental equipment; To maximize the benefits that can be obtained by performing the task, the To execute the first The benefit of a single experiment within the task, the stated Greater than or equal to zero; the For the first The number of times the in-task experiment is executed, the The The set consisting of the first task and the second task, the Greater than or equal to zero, and the Less than or equal to The For the first The total number of experiments corresponding to the task; Experimental process information is determined based on the first calculation formula, the first information, and the second information. This experimental process information includes equipment execution instructions and robot execution instructions, including: Obtain the information of multiple first nodes within the first information and the first total number of experiments within the first task; The first interval duration and the first processing duration corresponding to the shared experimental equipment are determined based on the multiple first node information. The interval duration represents the interval duration between the shared experimental equipment receiving two adjacent experimental items in the same task, and the processing duration represents the processing duration of the shared experimental equipment in a single node of the task. Obtain the multiple second node information within the second information and the second total number of experiments within the second task; The second interval duration and the second processing duration of the shared experimental equipment are determined based on the information from the multiple second nodes. Obtain the first benefit of a single experiment within the first task and the second benefit of a single experiment within the second task; Based on the shared experimental equipment, the first calculation formula, the first total number of times, the second total number of times, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first benefit, and the second benefit, determine the first number of times the experiment of the first task is executed and the second number of times the experiment of the second task is executed within the preset duration; The experimental process information is determined based on the first execution count, the second execution count, the first total count, the second total count, the plurality of first node information, and the plurality of second node information; The operation of at least one robot and at least one experimental device is controlled according to the experimental process information.

7. An intelligent laboratory dynamic scheduling device, characterized in that, A control console for an intelligent laboratory dynamic scheduling system, the intelligent laboratory dynamic scheduling system including the control console, at least one robot and at least one experimental device connected to the control console, the device comprising: The query unit is used to query whether a second task exists at the current time point when it receives the first information of the first task to be executed. The first information includes the first priority identifier of the first task and multiple first node information of a single experiment within the first task. The node information includes control information within the time period from the end of operation of one experimental device to the end of operation of the next experimental device. The control information includes device 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 including the second priority identifier of the second task and multiple second node information of a single experiment within the second task; The judgment unit is configured to determine whether the type of the shared experimental equipment exists in a first type set if, based on the first information and the second information, it is determined that the first task and the second task have the same priority level and there is at least one node using shared experimental equipment between the first task and the second task. The first type set includes the type of experimental equipment that requires replacement of consumable parts when switching to execute different tasks. The search unit is configured to search for a first calculation formula if the type of the shared experimental equipment exists in a first type set, wherein the first calculation formula is: ; in, The For the first The first in the mission The sum of the interval duration and processing time corresponding to the shared experimental equipment, the For a preset duration, the Greater than or equal to zero, the The The set of shared experimental equipment; To maximize the benefits that can be obtained by performing the task, the To execute the first The benefit of a single experiment within the task, the stated Greater than or equal to zero; the For the first The number of times the in-task experiment is executed, the The The set consisting of the first task and the second task, the Greater than or equal to zero, and the Less than or equal to The For the first The total number of experiments corresponding to the task; The determining unit is configured to determine experimental process information based on the first calculation formula, the first information, and the second information. The experimental process information includes equipment execution instructions and robot execution instructions, including: Obtain the information of multiple first nodes within the first information and the first total number of experiments within the first task; The first interval duration and the first processing duration corresponding to the shared experimental equipment are determined based on the multiple first node information. The interval duration represents the interval duration between the shared experimental equipment receiving two adjacent experimental items in the same task, and the processing duration represents the processing duration of the shared experimental equipment in a single node of the task. Obtain the multiple second node information within the second information and the second total number of experiments within the second task; The second interval duration and the second processing duration of the shared experimental equipment are determined based on the information from the multiple second nodes. Obtain the first benefit of a single experiment within the first task and the second benefit of a single experiment within the second task; Based on the shared experimental equipment, the first calculation formula, the first total number of times, the second total number of times, the first interval duration, the second interval duration, the first processing duration, the second processing duration, the first benefit, and the second benefit, determine the first number of times the experiment of the first task is executed and the second number of times the experiment of the second task is executed within the preset duration; The experimental process information is determined based on the first execution count, the second execution count, the first total count, the second total count, the plurality of first node information, and the plurality of second node information; A control unit is used to control the operation of at least one robot and at least one experimental device according to the experimental process information.

8. An electronic device, characterized in that, include: A processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as described in any one of claims 1 to 5.

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