CN115237548A - Multi-machine cooperation equipment scheduling method and device, electronic equipment and storage medium - Google Patents
Multi-machine cooperation equipment scheduling method and device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
- G06F9/5038—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering the execution order of a plurality of tasks, e.g. taking priority or time dependency constraints into consideration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
- G06F9/505—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering the load
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
Abstract
The invention discloses a multi-machine cooperation equipment scheduling method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a job task request based on a cloud management system, generating a regional task of each job regional subsystem based on the job task request, and issuing the regional task to the corresponding job regional subsystem; receiving a regional task issued to a current operation regional subsystem by the cloud management system based on a regional center node of the operation regional subsystem, generating at least one equipment task based on the regional task, and issuing each equipment task to each operation device corresponding to each equipment task in the current operation regional subsystem; and receiving the equipment task based on each operating equipment in any operating area subsystem, and performing operation based on the equipment task. By the technical scheme disclosed by the embodiment of the invention, the coupling degree of each robot and the cloud management system is reduced, and the communication efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent robots, in particular to a multi-machine cooperation equipment scheduling method and device, electronic equipment and a storage medium.
Background
With the rapid development of construction robots and the popularization of information-based construction of construction sites, multi-machine cooperation is the most important working mode. The dispatching system is a key technology of multi-machine cooperation operation, the current dispatching system of the robot is mainly divided into a centralized dispatching system and a distributed dispatching system, the centralized dispatching system processes data messages in a unified way, and then all the robots are dispatched in a unified way; once the central dispatch system fails, the robot's motion will have catastrophic consequences (wall-strike, robot-to-wall, robot-to-stop). The distributed scheduling system avoids the problem, all machines can communicate with each other, and the distributed scheduling system realizes the distributed management and scheduling, the autonomous perception decision and control and the like among the main mobile robot individuals, but increases the transmission data of the network, and is easy to cause information blockage and delay.
Disclosure of Invention
The invention provides a multi-machine cooperative equipment scheduling method and device, electronic equipment and a storage medium, which are used for solving the problems of excessive load and redundant information of a centralized communication node, reducing the coupling degree of each robot and a cloud management system and improving the communication efficiency.
In a first aspect, an embodiment of the present invention provides a multi-machine cooperative device scheduling system, where the system includes: the cloud management system, at least one operation area subsystem, each include at least one operation equipment respectively in the operation area subsystem, include an area central node respectively in each operation area subsystem, wherein:
the cloud management system is respectively in communication connection with the area center node of each operation area subsystem, and is used for acquiring an operation task request, generating an area task of each operation area subsystem based on the operation task request, and issuing the area task to the corresponding operation area subsystem;
the system comprises a cloud management system, a regional center node, a regional task generation system, a regional center node and a regional center node, wherein the cloud management system is used for receiving regional tasks which are issued to a current operation regional subsystem by the cloud management system, generating at least one equipment task based on the regional tasks, and issuing each equipment task to each operation device corresponding to each equipment task in the current operation regional subsystem;
and for each operation device in any operation area subsystem, the operation device is in communication connection with the central node in the current operation area subsystem and is used for receiving the device task and performing operation based on the device task.
In a second aspect, an embodiment of the present invention further provides a method for scheduling devices in multi-machine cooperation, where the method includes:
acquiring a job task request based on a cloud management system, generating a regional task of each job regional subsystem based on the job task request, and issuing the regional task to the corresponding job regional subsystem;
receiving a regional task issued to the current operation regional subsystem by the cloud management system based on a regional center node of the operation regional subsystem, generating at least one equipment task based on the regional task, and issuing each equipment task to each operation device corresponding to each equipment task in the current operation regional subsystem;
and receiving the equipment task based on each operating equipment in any operating area subsystem, and performing operation based on the equipment task.
The technical scheme provided by the embodiment of the invention specifically comprises the following steps: acquiring a job task request based on a cloud management system, generating a regional task of each job regional subsystem based on the job task request, and issuing the regional task to the corresponding job regional subsystem so as to reduce the coupling degree of each job device and the cloud management system through the job regional subsystems; receiving a regional task issued to the current operation regional subsystem by the cloud management system based on a regional center node of the operation regional subsystem, generating at least one equipment task based on the regional task, and issuing each equipment task to each operation device corresponding to each equipment task in the current operation regional subsystem; the problems that a centralized communication node is overloaded and redundant information is excessive are solved, operation equipment in any operation area subsystem receives the equipment tasks, operation is carried out based on the equipment tasks, operation state information is uploaded to a cloud management system through a central area node, and therefore communication efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It is clear that the described figures are only figures of a part of the embodiments of the invention to be described, not all figures, and that for a person skilled in the art, without inventive effort, other figures can also be derived from them.
Fig. 1 is a schematic structural diagram of a multi-machine cooperative device scheduling system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another multi-machine cooperative device scheduling system according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a method for scheduling devices with multi-machine cooperation according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Example one
Fig. 1 is a structural diagram of a multi-machine cooperative device scheduling system according to an embodiment of the present invention, which is applicable to a case of performing operations on each operation area, and in particular, is applicable to a case of performing operations on an operation task corresponding to each operation device while reducing a coupling degree between a cloud management center and each operation device. As shown in fig. 1, the device scheduling system 100 specifically includes a cloud management system 110 and at least one work area subsystem 120, where each work area subsystem includes an area center node 121 and at least one work device 122, where:
the cloud management system 110 is in communication connection with the area center node 121 of each operation area subsystem, and is configured to acquire an operation task request, generate an area task of each operation area subsystem 120 based on the operation task request, and issue the area task to the corresponding operation area subsystem 120;
for the area center node 121 in any operation area subsystem, the area center node is configured to receive an area task issued by the cloud management system 110 to the current operation area subsystem 120, generate at least one device task based on the area task, and issue each device task to each operation device 122 corresponding to each device task in the current operation area subsystem 120;
for each working device 122 in any working area subsystem, the working device is in communication connection with the area center node 121 of the current working area subsystem, and is used for receiving the device task and performing work based on the device task.
In the embodiment of the present invention, the job task request may be a task request for performing a job on a to-be-job area, which is acquired by the device scheduling system, where the size of the to-be-job area may include, but is not limited to, a job area described by one or more job area subsystems. The operation area subsystem is a part of operation areas in the operation area corresponding to the equipment scheduling system, the operation area corresponding to the equipment scheduling system comprises at least one operation area subsystem, operation state information and equipment state information of each operation equipment in the operation area subsystem are obtained through the operation area subsystem, the operation state information and the equipment state information are sent to the cloud management system, the problems that a centralized communication node is overloaded and redundant information is excessive are solved, and the coupling degree of each robot and the cloud management system can be reduced by adding the area center subsystem.
In the embodiment of the present invention, the cloud management system is in communication connection with the area center node of each operation area subsystem, specifically, the cloud management system may be in communication connection with a mobile communication module such as 4G, and the cloud management system may acquire area information of each operation area subsystem based on any communication mode, for example, the area information includes an area position, an area, and the like. The cloud management system can acquire a job task request input by a user based on a display, wherein the job task request includes, but is not limited to, job status information such as a job area to be operated, a job type and a job time limit. The cloud management system generates the regional tasks of the operation regional subsystems based on the acquired operation task requests and the regional information of the operation regional subsystems, and issues the regional tasks to the corresponding operation regional subsystems based on the communication mode. For example, if the acquired job task request is a job task request for spraying a whole floor, the floor position and area corresponding to each job region subsystem are acquired, a corresponding region task is generated, that is, the spraying of a certain floor is completed, and each period of region task is issued to the corresponding job region subsystem.
In the present embodiment, each work area subsystem includes one work device, and each work area subsystem includes one area center node. The area center node is determined based on equipment parameters of each operating equipment in the operating area subsystem and the weight of each equipment parameter, wherein the equipment parameters comprise one or more of computing resource consumption parameters, load parameters and communication parameters.
Specifically, the method for determining the area center node in the current working area subsystem may be: the method comprises the steps of obtaining equipment parameters of current operation equipment and weights corresponding to the equipment parameters, conducting weighting summation calculation on the equipment parameters based on the weights to obtain equipment values of the current operation equipment, calculating the equipment values of the operation equipment in a current operation area subsystem based on the method, sequencing the equipment values according to the equipment values, and determining the operation equipment corresponding to the first sequencing position as an area center node.
In other embodiments, the area center node is further configured to monitor a current load state and a resource consumption state, and determine a temporary area center node in each operating device in the belonging operating area subsystem if the current load state and/or the resource consumption state is in a node update state, where the temporary area center node is configured to determine a new area center node based on device parameters of each operating device in the belonging operating area subsystem, so as to solve a problem that the entire operating area subsystem cannot work when a local center node is crashed, and at this time, a new area center node with a highest score may be reselected quickly to take over the operating area subsystem, thereby increasing robustness and stability of the operating area subsystem.
The node update state may be a state corresponding to a failure of an operating device corresponding to a central node in a current area or a state corresponding to a preset position of a device value of the current operating device in each operating device, where the preset position may be the last position or the non-first position, and the preset position is not limited in this embodiment.
Specifically, the method for determining the temporary area center node in each of the operating devices in the belonging operating area subsystem by the area center node may be to use the operating device closest to the operating device of the area center node as the temporary area center node, or may also be to randomly determine any operating device in the current operating area subsystem as the temporary area center node.
Specifically, the method may include receiving a regional task of the current regional subsystem based on the communication manner, generating at least one device task according to the process sequence of the regional task and the device traffic coordination, allocating a device task to each operation device based on an executable task, current operation status information, and device status information of each operation device of the operation regional subsystem, and issuing each device task to an operation device corresponding to each device task in the current operation regional subsystem. The device task is a task corresponding to each of the job devices generated by scheduling and assigning the area task based on each of the job devices. For example, the acquired regional task of a certain floor may be based on the device type of each operating device to generate device tasks such as a polishing task, a spraying task, a cleaning task, and a general logistics task, and each device task may be issued to each operating device such as a polishing device, a spraying device, a cleaning device, and a general logistics device.
In some embodiments, the regional center node further establishes a local area network based on wifi and performs information interaction with each operation device in the operation region subsystem of the current regional center node. In the embodiment of the invention, the friendship effect of building the local area network based on wifi is to solve the problem that the network coverage rate of a building site is low, so that the operation equipment cannot be connected with the network for information interaction, and the operation equipment can be connected with the network and can perform information interaction with the outside in the mode, and meanwhile, the mode does not need all the operation equipment to be provided with a communication network module, so that the cost of the robot is reduced.
Specifically, each operating device in the current operating area subsystem receives a current device task sent by the area center node, and performs operation based on the device task. Taking any operation device in the current operation area subsystem as an example, the current operation device acquires operation state information and device state information of the operation device at the current moment at a preset time interval, and sends the operation information and the device state information to an area center node of the operation area subsystem to which the operation device belongs based on a wifi module. The cloud management system is used for collecting the operation state information of the current operation equipment, filtering and integrating the operation state information and the equipment state information of the current operation equipment, and sending the filtered and integrated operation state information and equipment state information to the cloud management system.
The technical scheme provided by the embodiment of the invention specifically comprises the following steps: acquiring an operation task request based on a cloud management system, generating a regional task of each operation regional subsystem based on the operation task request, and issuing the regional task to the corresponding operation regional subsystem so as to reduce the coupling degree of each operation device and the cloud management system through the operation regional subsystem; receiving a regional task issued to the current operation regional subsystem by the cloud management system based on a regional center node of the operation regional subsystem, generating at least one equipment task based on the regional task, and issuing each equipment task to each operation device corresponding to each equipment task in the current operation regional subsystem; the problems that a centralized communication node is overloaded and redundant information is excessive are solved, operation equipment in any operation area subsystem receives the equipment tasks, operation is carried out based on the equipment tasks, operation state information is uploaded to a cloud management system through a central area node, and therefore communication efficiency is improved.
On the basis of the foregoing embodiment, an alternative embodiment is further provided in the embodiments of the present invention, as shown in the flowchart of another multi-machine cooperative device scheduling method described in fig. 2, which is used to introduce an interaction flow from acquiring a job task request to completing the job task by a device scheduling system in the embodiments of the present invention. Specifically, as shown in fig. 2, the cloud management system is configured to obtain a job task request, generate a plurality of area tasks, that is, primary tasks in the graph, based on the job task request, and issue the plurality of area tasks to corresponding job area subsystems, that is, a job area 1, a job area 2, and a job area 3 in the graph, respectively; when an area center node in the operation area subsystem receives an area task issued by the cloud management system, examining at least one equipment task in each row, namely a secondary task in the graph, according to the process sequence and equipment traffic coordination of each operation equipment in the current operation area subsystem, namely equipment 1, equipment 2 and equipment 4 in an operation area 1, equipment 3, equipment 4 and equipment 5 in the operation area 2, equipment 7, equipment 8 and equipment 9 in the operation area 3, and the area task, and issuing each equipment task to each operation equipment correspondingly; each operating device operates according to the received device task, the problems of excessive load of the centralized communication node and excessive redundant information are solved, and the coupling degree of each operating device and the cloud management system is reduced by adding the regional center node. The area central node of the current operation area subsystem is dynamically determined according to the equipment parameters of each operation equipment and the weight of each equipment parameter, namely, the dynamic election in the graph is generated; and when the area center node of the current operation area subsystem is in a node updating state, determining a temporary area center node in each operation device in the current operation area subsystem, wherein the temporary area center node is used for determining a new area center node based on the device parameters of each operation device in the operation area subsystem, so that the problem that the whole system cannot work when the area center node is crashed is solved, a voting mechanism can be quickly started at the moment to reselect the new area center node with the highest score to take over the current operation area subsystem, and the robustness and the stability of the dispatching system are improved. Furthermore, information interaction is carried out between the regional center node of the current operation regional subsystem and each operation device based on a local area network established by a wifi module, and each operation device can send the device state information of each operation device at the current moment and the operation device information to the regional center node based on the internet; the regional central node integrates and filters the received equipment state information and the received operation equipment information of the respective operation equipment and then sends the information to the cloud management system, so that the cloud management system can timely acquire the equipment state information and the operation state information of the respective operation equipment, the problem that the operation equipment cannot be connected with a network due to low network coverage rate of a construction site is solved, all the operation equipment can be connected with the network by the method, information interaction with the outside can be carried out, and meanwhile, all the operation equipment is not required to be equipped by the method.
Example two
On the basis of the above embodiments, the embodiment adds "a region center node of any operation region subsystem", and is further configured to determine a cross-region scheduling request according to an unallocated device task if the unallocated device task exists, and send the cross-region scheduling request to the cloud management system; and the cloud management system determines scheduling operation equipment according to the cross-region scheduling request and the operation state information and the equipment state information of the operation equipment in each operation region subsystem, and controls the scheduling operation equipment to perform cross-region operation scheduling. The problem that cross-operation area work cannot be achieved due to the fact that the distance of the operation equipment is too far is solved, and cross-area operation can be achieved through the operation equipment according to scheduling of the cloud end and the local center by dynamically adjusting and recombining the operation area subsystems, so that resources are used more reasonably. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
In the embodiment of the present invention, the operation area subsystem is further configured to monitor whether all the generated device tasks are completely allocated. If the unallocated equipment tasks exist, determining a cross-region scheduling request according to the unallocated equipment tasks, and sending the cross-region scheduling request to the cloud management system. The cross-region scheduling request includes, but is not limited to, the number of job devices to be scheduled, the type of job devices, the job time, and other request contents. The unassigned tasks may be because a certain type of work equipment portion in the current work area subsystem is sufficient to complete a device task that is currently of the type in the work area subsystem, or a device task that is unassigned due to a lack of a certain type of work equipment in the current work area subsystem.
And the cloud management system determines scheduling operation equipment according to the cross-region scheduling request and the operation state information and the equipment state information of the operation equipment in each operation region subsystem, and controls the scheduling operation equipment to perform cross-region operation scheduling.
Specifically, the regional center node determines the unassigned device tasks according to the number and types of the tasks of the device tasks and the number and types of the devices of each of the operation devices in the current operation region subsystem, determines the number and types of the operation devices required by the unassigned device tasks, and determines the operation time of the required operation devices according to the process sequence of the regional tasks and the device traffic coordination. And generating a cross-region scheduling request according to the number, type, working time and other contents of the operation equipment required by the unallocated equipment task, and sending the cross-region scheduling request to the cloud management system. When receiving a cross-region scheduling request sent by any region center node, the cloud management system determines scheduling operation equipment according to operation state information and equipment state information of operation equipment of each operation region subsystem sent by each region node center, controls the scheduling operation equipment to perform cross-region operation scheduling, and improves resource utilization rate.
Optionally, the cloud management system may further determine schedulable idle operation devices according to the operation state information of each operation device of each operation region subsystem and the device state information, determine scheduling operation devices in the idle operation devices according to the scheduling number and the device task type in the cross-region scheduling request, and send a cross-region operation scheduling instruction to the original operation region subsystem to which the scheduling operation devices belong and a target operation region subsystem that sends the cross-region scheduling request.
Specifically, the cloud management system determines each operation device in an idle state at a time when the operation is needed according to operation state information and device state information of each operation device of each operation region subsystem and operation time of an unallocated device task in the cross-region scheduling request, and determines scheduling operation devices in the idle operation devices according to the scheduling number and the device task type in the cross-region scheduling request. And generating a scheduling instruction according to the determined scheduling operation equipment, the original operation area subsystem to which the operation equipment belongs and the target operation area subsystem which sends the cross-area scheduling request, and respectively sending the scheduling instruction to the original operation area subsystem to which the scheduling operation equipment belongs and the target operation area subsystem which sends the cross-area scheduling request.
Specifically, when the regional center node of the original operation region subsystem to which the scheduling operation device belongs receives a cross-regional operation scheduling instruction sent by the cloud, the device information of the scheduling operation device is frozen, for example, the device information of the scheduling operation device is stored in a preset position in a regional data management base, so that the calculation amount of the regional center node is reduced, and the operating pressure of the regional center node is reduced. When receiving a cross-region operation scheduling instruction sent by a cloud, a region center node of a target operation region subsystem adds device information of the scheduling operation device, for example, the target region center node registers the operation device, and adds the device information of the operation device in a region data management base, so as to timely obtain device state information and operation state information of each operation device in a current operation region subsystem.
In the embodiment of the invention, when an unallocated device task exists, a regional center node of a business regional subsystem determines a cross-regional scheduling request according to the unallocated device task and sends the cross-regional scheduling request to the cloud management system; the cloud management system determines the scheduling operation equipment according to the cross-region scheduling request and the operation state information and the equipment state information of the operation equipment in each operation region subsystem, controls the scheduling operation equipment to perform cross-region operation scheduling, solves the problem that the operation equipment cannot work in a cross-operation region due to too long distance, and enables the operation equipment to realize cross-region operation according to the scheduling of the cloud and the region center node by dynamically adjusting and recombining the operation region subsystems, so that resources are more reasonably used, and the resource utilization rate is improved.
It should be noted that, in the embodiment of the multi-machine cooperative device scheduling module, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The following is an embodiment of the multi-machine cooperative device scheduling method provided in the embodiment of the present invention, the method and the multi-machine cooperative device scheduling system in the embodiments described above belong to the same inventive concept, and reference may be made to the embodiment of the multi-machine cooperative device scheduling system for details that are not described in detail in the embodiment of the multi-machine cooperative device scheduling method.
EXAMPLE III
Fig. 3 is a flowchart of a multi-machine cooperative device scheduling method according to a third embodiment of the present invention, where this embodiment is applicable to a case of performing operations on each operation area, and in particular, is applicable to a case of performing operations on an operation task corresponding to each operation device while reducing a coupling degree between a cloud management center and each operation device. The method may be performed by a multi-machine cooperative device scheduling system.
As shown in fig. 3, the method specifically includes the following steps:
s210, acquiring a job task request based on a cloud management system, generating a regional task of each job regional subsystem based on the job task request, and issuing the regional task to the corresponding job regional subsystem.
S220, receiving the regional tasks issued to the current operation regional subsystem by the cloud management system based on the regional center node of the operation regional subsystem, generating at least one device task based on the regional tasks, and issuing each device task to each operation device corresponding to each device task in the current operation regional subsystem.
And S230, receiving the equipment task based on each operating equipment in any operating area subsystem, and performing operation based on the equipment task.
On the basis of the above embodiment, the area center node is determined based on the device parameter of each operating device in the operating area subsystem and the weight of each device parameter, where the device parameter includes one or more of a computing resource consumption parameter, a load parameter, and a communication parameter.
On the basis of the foregoing embodiment, the area center node is further configured to monitor a current load state and a resource consumption state, and determine a temporary area center node in each operating device in the belonging operating area subsystem if the current load state and/or the resource consumption state is in a node update state, where the temporary area center node is configured to determine a new area center node based on a device parameter of each operating device in the belonging operating area subsystem.
On the basis of the embodiment, the regional center node is further configured to be in communication connection with each operation device in the operation regional subsystem to which the regional center node belongs based on a wifi module;
the operation equipment is also used for acquiring the operation state information and the equipment state information of the operation equipment at the current moment and sending the operation state information and the equipment state information to an area center node of an operation area subsystem to which the operation equipment belongs.
On the basis of the above embodiment, the area center node of any one of the operation area subsystems is further configured to receive operation state information and device state information of each operation device in the current operation area subsystem, perform filtering and integrating processing on each operation state information and the device state information, and send the filtered and integrated operation state information and device state information to the cloud management system.
On the basis of the above embodiment, the area center node is configured to generate at least one device task according to the process sequence of the area task and the device traffic coordination, and allocate the device task to each operating device based on the executable task, the current operating state information, and the device state information of each operating device of the operating area subsystem.
On the basis of the above embodiment, the area center node of any one of the operation area subsystems is further configured to determine a cross-area scheduling request according to an unallocated device task if the unallocated device task exists, and send the cross-area scheduling request to the cloud management system;
and the cloud management system determines scheduling operation equipment according to the cross-region scheduling request and the operation state information and the equipment state information of the operation equipment in each operation region subsystem, and controls the scheduling operation equipment to perform cross-region operation scheduling.
On the basis of the foregoing embodiment, the cloud management system is further configured to determine schedulable idle operation devices according to the operation state information and the device state information of each operation device of each operation region subsystem, determine scheduling operation devices in the idle operation devices according to the scheduling number and the device task type in the cross-region scheduling request, and send a cross-region operation scheduling instruction to the original operation region subsystem to which the scheduling operation devices belong and the target operation region subsystem that sends the cross-region scheduling request.
On the basis of the above embodiment, the area center node of the original working area subsystem is further configured to freeze the device information of the job scheduling device when receiving a cross-area job scheduling instruction sent by a cloud; and the area center node of the target operation area subsystem is also used for adding the equipment information of the scheduling operation equipment.
The technical scheme provided by the embodiment of the invention specifically comprises the following steps: acquiring a job task request based on a cloud management system, generating a regional task of each job regional subsystem based on the job task request, and issuing the regional task to the corresponding job regional subsystem so as to reduce the coupling degree of each job device and the cloud management system through the job regional subsystems; receiving a regional task issued to the current operation regional subsystem by the cloud management system based on a regional center node of the operation regional subsystem, generating at least one equipment task based on the regional task, and issuing each equipment task to each operation device corresponding to each equipment task in the current operation regional subsystem; the problems that a centralized communication node is overloaded and redundant information is excessive are solved, operation equipment in any operation area subsystem receives the equipment tasks, operation is carried out based on the equipment tasks, operation state information is uploaded to a cloud management system through a central area node, and therefore communication efficiency is improved.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A multi-machine cooperative device scheduling system, comprising: cloud management system, at least one operation area subsystem, each include at least one operation equipment in the operation area subsystem respectively, include a regional central node in each operation area subsystem respectively, wherein:
the cloud management system is respectively in communication connection with the regional center node of each operation regional subsystem, and is used for acquiring an operation task request, generating regional tasks of each operation regional subsystem based on the operation task request, and issuing the regional tasks to the corresponding operation regional subsystems;
the system comprises a cloud management system, a regional center node, at least one equipment task and at least one operating device, wherein the cloud management system is used for receiving regional tasks which are issued to a current operating regional subsystem by the cloud management system, generating at least one equipment task based on the regional tasks and issuing each equipment task to each operating device corresponding to each equipment task in the current operating regional subsystem;
and for each operating device in any operating area subsystem, the operating device is in communication connection with the center node in the current operating area subsystem, and is used for receiving the device task and performing operation based on the device task.
2. The system of claim 1, wherein the regional center node is determined based on device parameters of each operating device in the local operating region subsystem and a weight of each device parameter, wherein the device parameters include one or more of a computing resource consumption parameter, a load parameter, and a communication parameter.
3. The system of claim 1, wherein the regional center node is further configured to monitor a current load status and a resource consumption status, and determine a temporary regional center node among the operating devices in the belonging operating region subsystem if the current load status and/or the resource consumption status is in a node update status, wherein the temporary regional center node is configured to determine a new regional center node based on device parameters of the operating devices in the belonging operating region subsystem.
4. The system of claim 1, wherein the regional centre node is further configured to be in communication connection with each of the operating devices in the operating region subsystem to which the regional centre node belongs based on a wifi module;
the operation equipment is further used for obtaining operation state information and equipment state information of the operation equipment at the current moment and sending the operation state information and the equipment state information to an area center node of an operation area subsystem to which the operation equipment belongs.
5. The system according to claim 4, wherein the regional center node of any of the work area subsystems is further configured to receive work status information and device status information of each work device in the current work area subsystem, filter and integrate the work status information and the device status information, and send the filtered and integrated work status information and device status information to the cloud management system.
6. The system of claim 1, wherein the regional center node is configured to generate at least one device task according to the process sequence of the regional tasks and device traffic coordination, and to assign the device task to each of the work devices based on the executable task, current work status information, and device status information of each of the work devices of the work region subsystem.
7. The system of claim 6, wherein the regional hub node of any one of the work region subsystems is further configured to determine a cross-regional scheduling request according to an unassigned device task and send the cross-regional scheduling request to the cloud management system if the unassigned device task exists;
and the cloud management system determines scheduling operation equipment according to the cross-region scheduling request and the operation state information and the equipment state information of the operation equipment in each operation region subsystem, and controls the scheduling operation equipment to perform cross-region operation scheduling.
8. The system according to claim 7, wherein the cloud management system is further configured to determine schedulable idle operation devices according to the operation state information and the device state information of each operation device of each operation region subsystem, determine scheduling operation devices in the idle operation devices according to the scheduling number and the device task type in the cross-region scheduling request, and send a cross-region operation scheduling instruction to an original operation region subsystem to which the scheduling operation devices belong and a target operation region subsystem that issues the cross-region scheduling request.
9. The system according to claim 8, wherein the regional center node of the original job regional subsystem is further configured to freeze device information of the job scheduling device when receiving a cross-regional job scheduling instruction sent by a cloud; and the area center node of the target operation area subsystem is also used for adding the equipment information of the scheduling operation equipment.
10. A multi-machine cooperative device scheduling method applied to the multi-machine cooperative device scheduling system of any one of claims 1 to 7, comprising:
acquiring a job task request based on a cloud management system, generating a regional task of each job regional subsystem based on the job task request, and issuing the regional task to the corresponding job regional subsystem;
receiving a regional task issued to the current operation regional subsystem by the cloud management system based on a regional center node of the operation regional subsystem, generating at least one equipment task based on the regional task, and issuing each equipment task to each operation device corresponding to each equipment task in the current operation regional subsystem;
and receiving the equipment task based on each operating equipment in any operating area subsystem, and performing operation based on the equipment task.
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| CN117608258A (en) * | 2024-01-24 | 2024-02-27 | 纳博特南京科技有限公司 | Balanced task allocation method for multiple robots based on LOF algorithm |
| CN117608258B (en) * | 2024-01-24 | 2024-04-05 | 纳博特南京科技有限公司 | Balanced task allocation method for multiple robots based on LOF algorithm |
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