CN113539465B - Component scheduling method, device, equipment and computer readable storage medium - Google Patents
Component scheduling method, device, equipment and computer readable storage medium Download PDFInfo
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Abstract
The application discloses a component scheduling method, which comprises the following steps: acquiring state information of each training component, and transmitting the state information of each training component to each client; receiving a component control instruction sent by the client; analyzing the component control instruction to determine a target idle training component and a target training bit; and moving the target idle training component from a storage bit to the target training bit according to a preset movement strategy. The method can enable the user to acquire the service condition of each training component in real time, enable the user to send the component control instruction aiming at any idle training component through the client to acquire the required training component for training, and greatly improve the scheduling efficiency and flexibility of the training component. The application also discloses a component scheduling device, equipment and a computer readable storage medium, which have the technical effects.
Description
Technical Field
The application relates to the technical field of rehabilitation equipment control, in particular to a component scheduling method; also relates to a component scheduling apparatus, a device and a computer readable storage medium.
Background
Currently, when rehabilitation patients perform ADL (Activies of Daily Living, daily life capability) training, the used client corresponds to a specific control system to control a training component at a corresponding position, and each patient can only train within the range of the component controlled by the client. The training assembly can not be controlled to move, the service conditions of other training assemblies except the current training position can not be known in real time, if the user wants to train by using other assemblies, the user needs to walk to the position of the corresponding assembly, and the user can continue training by logging in the client again, so that a plurality of inconveniences are brought to the patient training, and the user is easy to feel boring or feel the tedious emotion of the training process during the patient training, so that the rehabilitation of the patient is not facilitated.
In view of this, how to solve the above technical problems has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a component scheduling method, which can enable a user to acquire the service condition of each training component in real time, enable the user to acquire the required training component for training by sending a component control instruction aiming at any idle training component through a client, and greatly improve the efficiency and flexibility of training component scheduling. Another object of the present application is to provide a component scheduling apparatus, a device, and a computer-readable storage medium, each having the above technical effects.
In order to solve the technical problems, the application provides a component scheduling method, which comprises the following steps:
acquiring state information of each training component, and transmitting the state information of each training component to each client;
receiving a component control instruction sent by the client;
analyzing the component control instruction to determine a target idle training component and a target training bit;
and moving the target idle training component from a storage bit to the target training bit according to a preset movement strategy.
Optionally, the sending the status information of each training component to each client includes:
and sending the state information of each training component to each client by means of UDP multicast.
Optionally, the receiving the component control instruction sent by the client includes:
and receiving the component control instruction sent by the client through a TCP (transmission control protocol).
Optionally, the moving the target idle training component from the storage bit to the target training bit according to a preset movement policy includes:
when a plurality of clients simultaneously request the same target idle training component, respectively calculating a rotation angle required by the target idle training component to move to the target training position appointed by each client, and responding to the component control instruction corresponding to the minimum rotation angle so as to enable the target idle training component to reach the target training position through rotating the minimum rotation angle;
when a plurality of clients simultaneously request different target idle training components, arranging and combining the sequences of response to the requests, calculating the angle sum required by each target idle training component to rotate to the corresponding target training position under each arrangement and combination mode, and sequentially responding to each request according to the arrangement and combination mode corresponding to the angle sum minimum so as to enable each target idle training component to rotate to the corresponding target training position in sequence;
when one client requests the target idle training component, calculating a minimum rotation angle for enabling the target idle training component to reach the target training bit, and enabling the target idle training component to reach the target training bit by rotating the minimum rotation angle.
Optionally, calculating the rotation angle for the target idle training component to reach the target training bit includes:
when the target training bit does not have a training component, calculating all rotation angles of the target idle training component reaching the target training bit, and selecting the rotation angle with the minimum absolute value as the rotation angle for enabling the target idle training component to reach the target training bit;
when the target training bit is provided with a training component, calculating the minimum rotation angle from the target training bit to each idle storage bit to obtain a plurality of first rotation angles, calculating the minimum rotation angle from the target idle training component to the target training bit to obtain a second rotation angle, calculating the angle sum of the first rotation angle and the second rotation angle, and selecting the minimum angle sum as the rotation angle for enabling the target idle training component to reach the target training bit.
Optionally, the state information and the component control instruction are both in JSON data format.
Optionally, the method further comprises:
and after the target idle training component is moved from the storage bit to the target training bit, updating the angle information and the state information of the target idle training component.
In order to solve the technical problem, the application also provides a component scheduling device, which comprises:
the sending module is used for obtaining the state information of each training component and sending the state information of each training component to each client;
the receiving module is used for receiving the component control instruction sent by the client;
the analysis module is used for analyzing the assembly control instruction to determine a target idle training assembly and a target training bit;
and the moving module is used for moving the target idle training component from the storage bit to the target training bit according to a preset moving strategy.
In order to solve the technical problem, the present application further provides a component scheduling device, including:
a memory for storing a computer program;
a processor for implementing the steps of the component scheduling method according to any one of the preceding claims when executing the computer program.
To solve the above technical problem, the present application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the component scheduling method according to any one of the above.
The component scheduling method provided by the application comprises the following steps: acquiring state information of each training component, and transmitting the state information of each training component to each client; receiving a component control instruction sent by the client; analyzing the component control instruction to determine a target idle training component and a target training bit; and moving the target idle training component from a storage bit to the target training bit according to a preset movement strategy.
Therefore, the method for scheduling the components can send the state information of each training component to each client, so that the user at each client side can check the state of each training component, the user can acquire the current use state of each training component in real time, and references are provided for the user to select idle training components. In addition, the user can send the component control instruction of the training component in a certain idle state through the client, and the control system receives the component control instruction and then moves the target training component to the target training position according to the preset movement strategy, so that the automation degree of the ADL training process and the scheduling efficiency and flexibility of the training component are effectively improved, the use interest of a patient can be improved, and the rehabilitation training of the patient is facilitated.
The component scheduling device, the device and the computer readable storage medium provided by the application have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a component scheduling method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of deployment of a component scheduling device according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a component scheduling apparatus according to an embodiment of the present application;
fig. 4 is a schematic diagram of a component scheduling apparatus according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a component scheduling method, which can enable a user to acquire the service condition of each training component in real time, enable the user to send a component control instruction aiming at any training component through a client, acquire the required training component for training in the shortest time, and greatly improve the scheduling efficiency and flexibility of the training component. Another core of the present application is to provide a component scheduling apparatus, a device, and a computer-readable storage medium, which all have the above technical effects.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a flowchart of a component scheduling method according to an embodiment of the present application, and referring to fig. 1, the method includes:
s101: acquiring state information of each training component, and transmitting the state information of each training component to each client;
specifically, referring to fig. 2, the control system obtains the state information of each training component, and sends the state information of each training component to each client, where each client displays the state information of each training component. The state information refers to information representing that the training component is in an idle state or in a use state. The user at the client side can learn the state of each training component by looking at the content displayed on the screen of the client side, so that the user can select an idle training component from the training components when the user is proficient or bored about the currently used training component, and a component control instruction of the training component in a certain idle state is sent to the control system through the client side, so that the control system can move the training component in the idle state to the training position of the user for use by the user.
In a preferred embodiment, the control system may send the state information of each training component to each client in the following manner:
the control system sends the state information of each training component to each client through UDP multicast.
Specifically, in this embodiment, the control system sends information to each client joining the multicast address by using the UDP multicast method, so as to implement one-to-many communication. In the communication mode, the number of the clients is not limited, and the newly added clients can receive the information sent by the control system only by adding the multicast address, so that the deployment and implementation of the clients are more flexible.
In addition, in order to improve the transmission speed and the data analysis efficiency of data interaction, the state information can be in a JSON data format which is easy to read and write and occupies a small bandwidth.
It can be appreciated that, in addition to sending the status information of each training component to each client, the control system may also send the real-time data (e.g., the angle of the training component, etc.) of each training component collected by the sensor to each client for display, so that the user can more comprehensively grasp the relevant information of the training component.
S102: receiving a component control instruction sent by the client;
specifically, the control system receives a component control instruction of the training component in a certain idle state, which is sent by a user through the client, and further controls the training component to move according to the received control instruction.
In order to ensure the reliability of the control of the component by the client, as a preferred implementation manner, the control system receives the component control instruction sent by the client through the TCP transmission protocol.
Specifically, in this embodiment, the client uses a TCP transmission protocol to send a component control instruction to the control system, so as to implement reliable one-to-one communication.
In addition, in order to improve the transmission speed and the data analysis efficiency of data interaction, the assembly control instruction can adopt a JSON data format which is easy to read and write and occupies a small bandwidth.
S103: analyzing the component control instruction to determine a target idle training component and a target training bit;
s104: and moving the target idle training component from a storage bit to the target training bit according to a preset movement strategy.
Specifically, after receiving a component control instruction sent by a client, the control system determines an idle training component to be moved, namely a target idle training component, and a training bit to be moved to by the target idle training component, namely a target training bit, according to the component control instruction, and moves the target idle training component from a storage bit to the target training bit according to a preset movement strategy.
In a specific embodiment, moving the target idle training component from the storage bit to the target training bit according to a preset movement policy includes:
when a plurality of clients simultaneously request the same target idle training component, respectively calculating the rotation angle required by the target idle training component to move to the target training position appointed by each client, and responding to a component control instruction corresponding to the minimum rotation angle so as to enable the target idle training component to reach the target training position through rotating the minimum rotation angle;
when a plurality of clients simultaneously request different target idle training components, arranging and combining the sequences of the responses to the requests, calculating the angle sum required by each target idle training component to rotate to the corresponding target training bit under each arrangement and combination mode, and sequentially responding to each request according to the angle sum and the minimum corresponding arrangement and combination mode to enable each target idle training component to rotate to the corresponding target training bit sequentially;
when a client requests the target idle training component, calculating the minimum rotation angle for enabling the target idle training component to reach the target training position, and enabling the target idle training component to reach the target training position by rotating the minimum rotation angle.
Specifically, the present embodiment adopts the shortest-time movement strategy to move the target idle training component to the target training bit in the shortest time. The control system responds to the component control instruction in three cases:
first case: multiple clients simultaneously request the same target idle training component. Under the condition, the control system firstly calculates the rotation angles required by moving the target idle training components to the target training positions appointed by the clients respectively, responds to a corresponding component control instruction with the minimum rotation angle in the rotation angles, and enables the target idle training components to reach the corresponding target training positions by rotating the minimum rotation angle. And a message of feedback control failure for the request of other clients which do not respond.
For example, the client a, the client B, and the client C each request the idle training component 1, at this time, the control system calculates a rotation angle a required to move the idle training component 1 to the training bit designated by the client a, calculates a rotation angle B required to move the idle training component 1 to the training bit designated by the client B, and calculates a rotation angle C required to move the idle training component 1 to the training bit designated by the client C, compares the rotation angle a, the rotation angle B, and the rotation angle C, finds that the rotation angle C is the smallest one of the three rotation angles, and at this time, the control system moves the idle training component to the training bit designated by the client C by rotating the smallest rotation angle C in response to the request of the client C. And for the requests of the client A and the client B, feedback control failure messages to the client A and the client B respectively.
There may be a case where there are two or more minimum rotation angles. At this time, the control system may randomly respond to a request corresponding to one of the minimum rotation angles. For example, in the above example, the rotation angle B is equal to and the rotation angle C is the smallest, and the control system may select to respond to the request of the client B at random or respond to the request of the client C.
Second case: there are multiple clients requesting different target idle training components at the same time. In this case, the control system will sequentially respond to each request, so that each target idle training component rotates to the corresponding target training position. Before responding to each request in turn, the control system firstly performs permutation and combination on the sequence of responding to each request, and calculates the angle sum required by each target idle training component to rotate to the corresponding target training bit under each permutation and combination mode, and then responds to each request in turn according to the permutation and combination mode corresponding to the angle sum minimum, so that each target idle training component rotates to the corresponding target training bit in turn.
For example, client a, client B, client C request different target idle training components simultaneously. Client a requests idle training component 1, client B requests idle training component 2, and client C requests idle training component 3. At this time, the control system performs permutation and combination on the sequence of the responses to the requests to obtain a request containing a response client A, a response client B and a response client C; firstly, responding to the request of the client B, then responding to the request of the client A, and finally responding to 6 permutation and combination modes including the request of the client C. And the control system calculates the sum of angles required by rotating each target idle training component to the corresponding target training position under each arrangement and combination mode. For example, the sum of all rotation angles performed when the idle training component 2 is rotated to the training bit designated by the client B, then the idle training component 1 is rotated to the training bit designated by the client a, and finally the idle training component 3 is rotated to the training bit designated by the client C is calculated. Finally, if the idle training component 2 is rotated to the training position appointed by the client B, then the idle training component 1 is rotated to the training position appointed by the client a, and finally the sum of all rotation angles performed when the idle training component 3 is rotated to the training position appointed by the client C is minimum, the requests of the client B, the client a and the client C are responded in sequence, the idle training component 2 is rotated to the training position appointed by the client B, then the idle training component 1 is rotated to the training position appointed by the client a, and finally the idle training component 3 is rotated to the training position appointed by the client C.
Third case: only one client requests the target idle training component at the same time. In this case, the minimum rotation angle at which the target idle training component reaches the target training bit is directly calculated, and the target idle training component reaches the target training bit by rotating the minimum rotation angle.
Further, the method for calculating the rotation angle for enabling the target idle training component to reach the target training bit is as follows:
when the target training bit does not have a training component, calculating all rotation angles of the target idle training component reaching the target training bit, and selecting the rotation angle with the minimum absolute value as the rotation angle for enabling the target idle training component to reach the target training bit;
when the target training bit is provided with a training component, calculating the minimum rotation angle from the target training bit to each idle storage bit to obtain a plurality of first rotation angles, calculating the minimum rotation angle from the target idle training component to the target training bit to obtain a second rotation angle, calculating the angle sum of each first rotation angle and the second rotation angle, and selecting the minimum angle sum as the rotation angle for enabling the target idle training component to reach the target training bit.
Specifically, in this embodiment, the control system calculates the rotation angle including two cases where the target training bit currently has a component and the target training bit currently has no component.
For the case where the target training bit does not currently have a training component: and directly calculating the rotation angles of the target idle training assembly reaching the target training position, returning the rotation angle and the rotation direction mark with the minimum absolute value, taking the rotation angle with the minimum absolute value as the minimum rotation angle for enabling the target idle training assembly to reach the target training position, and rotating the target idle training assembly by a control system according to the minimum rotation angle and the corresponding rotation path. The rotation path refers to a reference at the source code level with rotation direction (forward or reverse) and rotation angle information.
For the case where the target training bit currently has a training component: because the target training bit currently has a training component, the training component currently existing in the target training bit needs to be moved out to the idle storage bit before the target idle training component is moved to the target training bit. When the target training bit is provided with a training component, the minimum rotation angles from the target training bit to each idle storage bit are calculated respectively, namely the minimum rotation angles for moving the training component which is currently in the target training bit out of each idle storage bit are calculated respectively, a plurality of first rotation angles are obtained, the minimum rotation angles from the target idle training component to the target training bit are calculated to obtain a second rotation angle, the angle sum of the first rotation angles and the second rotation angles is calculated respectively, and the minimum angle sum is selected as the minimum rotation angle for enabling the target idle training component to reach the target training bit.
For example, the idle memory bits include idle memory bit 1 and idle memory bit 2, the forward rotation angle of the target training bit to idle memory bit 1 is a, the reverse rotation angle of the target training bit to idle memory bit 1 is B, a is greater than B, and thus the minimum rotation angle of the target training bit to idle memory bit 1 is B. The forward rotation angle from the target training bit to the idle storage bit 2 is C, the reverse rotation angle from the target training bit to the idle storage bit 2 is D, and D is larger than C, so that the minimum rotation angle from the target training bit to the idle storage bit 2 is C. The minimum rotation angle from the target idle training component to the target training bit is E. If the rotation angle B+E is larger than the rotation angle C+E, the rotation angle C+E is selected as the rotation angle of the target idle training component reaching the target training position, namely the rotation angle C of the training component currently existing on the target training position is moved out to the idle storage position 2, and then the rotation angle E of the target idle training component is moved to the target training position.
Further, after the target idle training component is moved from the storage bit to the target training bit, the angle information and the state information (updated from idle to used) of the target idle training component are updated. The training component angle information and the state information may be specifically marked with Dictionary types, that is, dictionary (int (serial number of training component)), and related information of training component includes angle and idle mark (wire indicates idle, false indicates use). The current angle information of the training component and the idle mark are updated each time the training component is rotated to a target training bit.
In summary, the component scheduling method provided by the application can send the state information of each training component to each client, so that the user at each client side can check the state of each training component, thereby facilitating the user to acquire the current use state of each training component in real time and providing references for the user to select idle training components. In addition, the user can send the component control instruction of the training component in a certain idle state through the client, and the control system receives the component control instruction and then moves the target training component to the target training position according to the preset movement strategy, so that the automation degree of the ADL training process and the scheduling efficiency and flexibility of the training component are effectively improved, the use interest of a patient can be improved, and the rehabilitation training of the patient is facilitated.
The application also provides a component scheduling device, which can be referred to in the following in a mutually corresponding manner to the method described above. Referring to fig. 3, fig. 3 is a schematic diagram of a component scheduling apparatus according to an embodiment of the present application, and in combination with fig. 3, the apparatus includes:
the sending module 10 is configured to obtain status information of each training component, and send the status information of each training component to each client;
a receiving module 20, configured to receive a component control instruction sent by the client;
an analysis module 30 for analyzing the component control instructions to determine a target idle training component and a target training bit;
and the moving module 40 is configured to move the target idle training component from the storage bit to the target training bit according to a preset movement policy.
On the basis of the above embodiment, optionally, the sending module 10 is specifically configured to:
and sending the state information of each training component to each client by means of UDP multicast.
On the basis of the above embodiment, optionally, the receiving module 20 is specifically configured to:
and receiving the component control instruction sent by the client through a TCP (transmission control protocol).
On the basis of the above embodiment, optionally, the mobile module 40 is specifically configured to:
when a plurality of clients simultaneously request the same target idle training component, respectively calculating a rotation angle required by the target idle training component to move to the target training position appointed by each client, and responding to the component control instruction corresponding to the minimum rotation angle so as to enable the target idle training component to reach the target training position through rotating the minimum rotation angle;
when a plurality of clients simultaneously request different target idle training components, arranging and combining the sequences of response to the requests, calculating the angle sum required by each target idle training component to rotate to the corresponding target training position under each arrangement and combination mode, and sequentially responding to each request according to the arrangement and combination mode corresponding to the angle sum minimum so as to enable each target idle training component to rotate to the corresponding target training position in sequence;
when one client requests the target idle training component, calculating a minimum rotation angle for enabling the target idle training component to reach the target training bit, and enabling the target idle training component to reach the target training bit by rotating the minimum rotation angle.
Based on the above embodiment, optionally, the calculating the rotation angle for the target idle training component to reach the target training bit is:
when the target training bit does not have a training component, calculating all rotation angles of the target idle training component reaching the target training bit, and selecting the rotation angle with the minimum absolute value as the rotation angle for enabling the target idle training component to reach the target training bit;
when the target training bit is provided with a training component, calculating the minimum rotation angle from the target training bit to each idle storage bit to obtain a plurality of first rotation angles, calculating the minimum rotation angle from the target idle training component to the target training bit to obtain a second rotation angle, calculating the angle sum of the first rotation angle and the second rotation angle, and selecting the minimum angle sum as the rotation angle for enabling the target idle training component to reach the target training bit.
On the basis of the above embodiment, optionally, both the state information and the component control instruction adopt JSON data format.
On the basis of the above embodiment, optionally, the method further includes:
and the updating module is used for updating the angle information and the state information of the target idle training component after the target idle training component is moved from the storage bit to the target training bit.
The application also provides a component scheduling apparatus, as shown with reference to fig. 4, comprising a memory 1 and a processor 2.
A memory 1 for storing a computer program;
a processor 2 for executing a computer program to perform the steps of:
acquiring state information of each training component, and transmitting the state information of each training component to each client; receiving a component control instruction sent by the client; analyzing the component control instruction to determine a target idle training component and a target training bit; and moving the target idle training component from a storage bit to the target training bit according to a preset movement strategy.
For the description of the apparatus provided by the present application, refer to the above method embodiment, and the description of the present application is omitted herein.
The present application also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring state information of each training component, and transmitting the state information of each training component to each client; receiving a component control instruction sent by the client; analyzing the component control instruction to determine a target idle training component and a target training bit; and moving the target idle training component from a storage bit to the target training bit according to a preset movement strategy.
The computer readable storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
For the description of the computer-readable storage medium provided by the present application, refer to the above method embodiments, and the disclosure is not repeated here.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the apparatus, device and computer readable storage medium of the embodiment disclosure, since it corresponds to the method of the embodiment disclosure, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The component scheduling method, apparatus, device and computer readable storage medium provided by the present application are described in detail above. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the principles of the application, which are also intended to fall within the scope of the appended claims.
Claims (8)
1. A method for scheduling components, comprising:
acquiring state information of each training component, and transmitting the state information of each training component to each client;
receiving a component control instruction sent by the client;
analyzing the component control instruction to determine a target idle training component and a target training bit;
according to a preset movement strategy, the target idle training component is moved from a storage bit to the target training bit;
wherein, the moving the target idle training component from the storage bit to the target training bit according to the preset movement strategy includes:
when a plurality of clients simultaneously request the same target idle training component, respectively calculating a rotation angle required by the target idle training component to move to the target training position appointed by each client, and responding to the component control instruction corresponding to the minimum rotation angle so as to enable the target idle training component to reach the target training position through rotating the minimum rotation angle;
when a plurality of clients simultaneously request different target idle training components, arranging and combining the sequences of response to the requests, calculating the angle sum required by each target idle training component to rotate to the corresponding target training position under each arrangement and combination mode, and sequentially responding to each request according to the arrangement and combination mode corresponding to the angle sum minimum so as to enable each target idle training component to rotate to the corresponding target training position in sequence;
when one client requests the target idle training component, calculating a minimum rotation angle for enabling the target idle training component to reach the target training bit, and enabling the target idle training component to reach the target training bit by rotating the minimum rotation angle;
and, calculating the rotation angle for the target idle training component to reach the target training bit comprises:
when the target training bit does not have a training component, calculating all rotation angles of the target idle training component reaching the target training bit, and selecting the rotation angle with the minimum absolute value as the rotation angle for enabling the target idle training component to reach the target training bit;
when the target training bit is provided with a training component, calculating the minimum rotation angle from the target training bit to each idle storage bit to obtain a plurality of first rotation angles, calculating the minimum rotation angle from the target idle training component to the target training bit to obtain a second rotation angle, calculating the angle sum of the first rotation angle and the second rotation angle, and selecting the minimum angle sum as the rotation angle for enabling the target idle training component to reach the target training bit.
2. The component scheduling method of claim 1, wherein the sending the status information of each training component to each client comprises:
and sending the state information of each training component to each client by means of UDP multicast.
3. The component scheduling method of claim 2, wherein the receiving the component control instruction sent by the client includes:
and receiving the component control instruction sent by the client through a TCP (transmission control protocol).
4. The component scheduling method of claim 1, wherein the state information and the component control instruction are both in JSON data format.
5. The component scheduling method of claim 4, further comprising:
and after the target idle training component is moved from the storage bit to the target training bit, updating the angle information and the state information of the target idle training component.
6. A component scheduling apparatus, comprising:
the sending module is used for obtaining the state information of each training component and sending the state information of each training component to each client;
the receiving module is used for receiving the component control instruction sent by the client;
the analysis module is used for analyzing the assembly control instruction to determine a target idle training assembly and a target training bit;
the moving module is used for moving the target idle training component from a storage bit to the target training bit according to a preset moving strategy;
the mobile module is specifically configured to:
when a plurality of clients simultaneously request the same target idle training component, respectively calculating a rotation angle required by the target idle training component to move to the target training position appointed by each client, and responding to the component control instruction corresponding to the minimum rotation angle so as to enable the target idle training component to reach the target training position through rotating the minimum rotation angle;
when a plurality of clients simultaneously request different target idle training components, arranging and combining the sequences of response to the requests, calculating the angle sum required by each target idle training component to rotate to the corresponding target training position under each arrangement and combination mode, and sequentially responding to each request according to the arrangement and combination mode corresponding to the angle sum minimum so as to enable each target idle training component to rotate to the corresponding target training position in sequence;
when one client requests the target idle training component, calculating a minimum rotation angle for enabling the target idle training component to reach the target training bit, and enabling the target idle training component to reach the target training bit by rotating the minimum rotation angle;
and, the process of the mobile module calculating the rotation angle for the target idle training component to reach the target training bit includes:
when the target training bit does not have a training component, calculating all rotation angles of the target idle training component reaching the target training bit, and selecting the rotation angle with the minimum absolute value as the rotation angle for enabling the target idle training component to reach the target training bit;
when the target training bit is provided with a training component, calculating the minimum rotation angle from the target training bit to each idle storage bit to obtain a plurality of first rotation angles, calculating the minimum rotation angle from the target idle training component to the target training bit to obtain a second rotation angle, calculating the angle sum of the first rotation angle and the second rotation angle, and selecting the minimum angle sum as the rotation angle for enabling the target idle training component to reach the target training bit.
7. A component scheduling apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the component scheduling method according to any one of claims 1 to 5 when executing said computer program.
8. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the component scheduling method of any one of claims 1 to 5.
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