CN116934206A

CN116934206A - Scheduling method and system

Info

Publication number: CN116934206A
Application number: CN202311203322.1A
Authority: CN
Inventors: 袁源强; 张群; 王子豪; 陈滔滔; 丁宏伟; 李洪波
Original assignee: Wuzhou Online E Commerce Beijing Co ltd
Current assignee: Wuzhou Online E Commerce Beijing Co ltd
Priority date: 2023-09-18
Filing date: 2023-09-18
Publication date: 2023-10-24

Abstract

The embodiment of the specification provides a scheduling method and a scheduling system, wherein the scheduling method comprises the following steps: acquiring position information of an object to be scheduled, wherein the object to be scheduled comprises a manual operation mobile device and a robot; under the condition that the object to be scheduled is a manual operation mobile device, taking a manual scheduling node preset on a scheduling map as a node allowing the manual operation mobile device to stay, and planning a moving track of the manual operation mobile device; when the object to be scheduled is a robot, taking a robot scheduling node preset on the scheduling map as a node allowing the robot to stay, and planning a moving track of the robot; and sending a scheduling instruction to the manual operation mobile equipment and the robot according to the movement track of the manual operation mobile equipment and the movement track of the robot.

Description

Scheduling method and system

Technical Field

The embodiment of the specification relates to the technical field of computers, in particular to a scheduling method.

Background

With the continuous development of automation and intelligence technologies, the application of robots such as automatic guided vehicles in warehouses has become a more and more common trend. For example, the automatic guiding vehicle can run autonomously and charge automatically, and through intelligent scheduling, the automatic guiding vehicle has great advantages in aspects of transportation, sorting and the like in a warehouse, and can improve the logistics efficiency and accuracy of the warehouse through participating in the in-situ scheduling.

However, the current warehouse job scheduling system mainly focuses on collaborative scheduling among multiple types of robots, so that the flexibility of job execution is poor and safety risks exist. Therefore, there is a need for a job scheduling method that ensures safety and improves scheduling efficiency while improving job flexibility.

Disclosure of Invention

In view of this, the present specification embodiments provide a scheduling method. One or more embodiments of the present specification relate to a scheduling system, a computing device, a computer-readable storage medium, and a computer program for achieving the purposes of improving job flexibility, ensuring safety, and improving scheduling efficiency.

According to a first aspect of embodiments of the present specification, there is provided a scheduling method, including: acquiring position information of an object to be scheduled, wherein the object to be scheduled comprises a manual operation mobile device and a robot; when the object to be scheduled is a manual operation mobile device, taking a manual scheduling node preset on a scheduling map as a node allowing the manual operation mobile device to stay, and planning a moving track of the manual operation mobile device to obtain the moving track of the manual operation mobile device; when the object to be scheduled is a robot, taking a robot scheduling node preset on the scheduling map as a node allowing the robot to stay, planning a moving track of the robot to obtain the moving track of the robot, wherein the manual scheduling node and the robot scheduling node are positioned at different positions on the scheduling map; and sending a scheduling instruction to the manual operation mobile equipment and the robot according to the movement track of the manual operation mobile equipment and the movement track of the robot.

According to a second aspect of embodiments of the present specification, there is provided a scheduling method applied to a manual work mobile device, including: acquiring position information of the manual operation mobile equipment, and sending the position information to a server, so that the server can apply the scheduling method according to any embodiment of the specification to schedule the manual operation mobile equipment; receiving a scheduling instruction sent by the server; and sending information corresponding to the scheduling instruction to operators according to the scheduling instruction.

According to a third aspect of embodiments of the present specification, there is provided a scheduling system comprising: manual operation mobile equipment, a robot and a server; the manual operation mobile equipment is configured to acquire the position information of the manual operation mobile equipment and send the position information of the manual operation mobile equipment to a server; the robot is configured to acquire the position information of the robot and send the position information of the robot to a server; the server is configured to apply the scheduling method according to any embodiment of the present specification and send scheduling instructions to the manual work mobile device and the robot.

According to a fourth aspect of embodiments of the present specification, there is provided a computing device comprising: a memory and a processor; the memory is configured to store computer-executable instructions that, when executed by the processor, perform the steps of the scheduling method described above.

According to a fifth aspect of embodiments of the present specification, there is provided a computer readable storage medium storing computer executable instructions which, when executed by a processor, implement the steps of the scheduling method described above.

According to a sixth aspect of the embodiments of the present specification, there is provided a computer program, wherein the computer program, when executed in a computer, causes the computer to perform the steps of the scheduling method described above.

According to the method, the position information of the object to be scheduled is obtained, the object to be scheduled comprises the manual operation mobile equipment and the robot, a preset manual scheduling node on a scheduling map is used as a node allowing the manual operation mobile equipment to stay, path planning is conducted on the manual operation mobile equipment, the preset robot scheduling node on the scheduling map is used as a node allowing the robot to stay under the condition that the object to be scheduled is a robot, planning of a moving track is conducted on the robot, the manual scheduling node and the robot scheduling node are located at different positions on the scheduling map, scheduling instructions are sent to the manual operation mobile equipment and the robot according to the moving track of the manual operation mobile equipment and the moving track of the robot, and accordingly the manual operation mobile equipment and the robot are prevented from being influenced by the manual operation mobile equipment and the robot, the safety of the manual operation mobile equipment and the robot are prevented from being influenced by the robot, and the safety of the manual operation mobile equipment and the robot is guaranteed.

Drawings

FIG. 1 is a schematic illustration of a scheduling system according to one embodiment of the present disclosure;

FIG. 2 is a flow chart of a scheduling method provided by one embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a dispatch map provided by one embodiment of the present disclosure;

FIG. 4 is a process flow diagram of a scheduling method provided by one embodiment of the present disclosure;

FIG. 5 is a schematic illustration of a dispatch map of a presence detour risk area provided by one embodiment of the present description;

FIG. 6 is a process flow diagram of a scheduling method according to another embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a scheduling apparatus according to an embodiment of the present disclosure;

FIG. 8 is a flow chart of a scheduling method provided in another embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a scheduling apparatus according to another embodiment of the present disclosure;

FIG. 10 is a block diagram of a scheduling system provided in another embodiment of the present disclosure;

FIG. 11 is a block diagram of a computing device provided in one embodiment of the present description.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present description. This description may be embodied in many other forms than described herein and similarly generalized by those skilled in the art to whom this disclosure pertains without departing from the spirit of the disclosure and, therefore, this disclosure is not limited by the specific implementations disclosed below.

The terminology used in the one or more embodiments of the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the specification. As used in this specification, one or more embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that, although the terms first, second, etc. may be used in one or more embodiments of this specification to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

Furthermore, it should be noted that, user information (including, but not limited to, user equipment information, user personal information, etc.) and data (including, but not limited to, data for analysis, stored data, presented data, etc.) according to one or more embodiments of the present disclosure are information and data authorized by a user or sufficiently authorized by each party, and the collection, use, and processing of relevant data is required to comply with relevant laws and regulations and standards of relevant countries and regions, and is provided with corresponding operation entries for the user to select authorization or denial.

First, terms related to one or more embodiments of the present specification will be explained.

Man-machine cooperation: cooperation and interaction between a person and a robot (a robot may be understood as any intelligent device) to achieve a common goal or to accomplish a task.

And (5) warehouse scheduling: and a system for managing and scheduling information such as inventory, goods positions, shelves, warehouse entry and warehouse exit of the warehouse by utilizing a computer technology and an information management technology. Its main functions include: the method comprises the steps of maintenance management of stored goods and goods position information, planning, scheduling and execution management of warehouse operations such as warehouse entry, warehouse exit, warehouse moving and the like, real-time monitoring and statistical analysis of warehouse inventory and the like. Through the operation of warehouse dispatching, can realize high-efficient management and circulation of warehouse goods, improve the storage capacity and the commodity circulation efficiency of warehouse, reduce the storage cost, promote the market competition of enterprise.

Although various automatic devices and robots exist in the existing intelligent warehouse, special operations still exist, and an operator needs to flexibly perform manual operations, such as packaging or checking special articles. In addition, when the automation system fails or the robot cannot complete the task, the operator can maintain and adjust in time so as to ensure that the warehouse operates normally. In summary, although the robot participates in the in-field dispatching to improve the logistics efficiency of the warehouse, reduce the labor cost and the risk, and are necessary means and measures for realizing the intelligence of the warehouse, manual operation is still needed in some cases, and the continuous development of the logistics of the warehouse is promoted together. The current warehouse dispatching system mainly focuses on collaborative dispatching among multiple types of robots, does not consider manual operation in robot dispatching, not only seriously influences dispatching efficiency in a warehouse, but also can have great safety risk.

In view of this, the embodiment of the specification provides a job scheduling method, which separates an operator from a robot to plan a movement track through a preset manual scheduling node and a preset robot scheduling node, avoids the safety risk of the operator working together with multiple types of robots, reduces the influence of manual scheduling on the robot scheduling, realizes the cooperative scheduling of manual operation and robot operation, compensates the flexibility of the robot operation through manual operation, ensures the safety of the manual operation and the robot operation, and improves the overall operation efficiency in a bin.

Specifically, in the present specification, a job scheduling method is provided, and the present specification relates to a job scheduling apparatus, a scheduling system, a computing device, and a computer-readable storage medium, one by one, which are described in detail in the following embodiments.

Referring to fig. 1, fig. 1 shows a schematic view of a scheduling system according to an embodiment of the present disclosure. As shown in fig. 1, the scheduling system 100 includes: a manual work mobile device 102, a robot 104, and a server 106.

The manual operation mobile device 102 is configured to acquire the position information of the manual operation mobile device, and send the position information of the manual operation mobile device to a server.

The robot 104 is configured to acquire position information of the robot, and send the position information of the robot to a server.

The server 106 is configured to obtain location information of an object to be scheduled, where the object to be scheduled includes a manual operation mobile device and a robot, and when the object to be scheduled is the manual operation mobile device, a preset manual scheduling node on a scheduling map is used as a node allowing the manual operation mobile device to stay, a moving track of the manual operation mobile device is planned, and when the object to be scheduled is a robot, a preset robot scheduling node on the scheduling map is used as a node allowing the robot to stay, the robot is planned, a moving track of the robot is obtained, and the manual scheduling node and the robot scheduling node are located at different positions on the scheduling map, and according to the moving track of the manual operation mobile device and the moving track of the robot, scheduling instructions are sent to the manual operation mobile device and the robot.

The scheduling system shown in fig. 1 can be applied to job scheduling of intelligent warehouse. In the smart warehouse application scenario, the manual work mobile device 102 and the robot 104 move to a target location under the scheduling of the server 106 for operations such as inventory, pick-up, spot check, and the like.

The server 106 may be any type of electronic computing platform or device, and a device with corresponding storage space or computing power is used according to the actual situation. For example, the server 106 may include a server that provides various services, such as a server that provides communication services for a plurality of clients, such as a server that processes data sent by clients, and the like. It should be noted that, the server 100 may be implemented as a distributed server cluster formed by a plurality of servers, or may be implemented as a single server. The server may also be a server of a distributed system or a server that incorporates a blockchain. The server may also be a cloud server for cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN, content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms, or an intelligent cloud computing server or an intelligent cloud host with artificial intelligence technology.

The robot 104 may be an automated device having a traveling mechanism that is capable of moving in a warehouse, transporting goods, picking and placing goods, transporting shelves, and the like. For example, the robot may be a cargo handling robot, a shelf handling robot, an automated guided vehicle, or the like.

The manual work mobile device 102 may be any type of smart mobile device, such as a cell phone, tablet computer, personal computer, etc. The client on the manual mobile device 102 for implementing the method provided in the embodiment of the present disclosure may be a browser, APP (Application program), or a web Application such as H5 (HyperText Markup Language, hypertext markup language5 th edition) Application, or a light Application (also called applet, a lightweight Application program) or a cloud Application, which is an instant messaging tool implemented, and may be based on a software development kit (SDK, software Development Kit) of a corresponding service provided by a service end, such as an SDK development and acquisition based on real-time communication (RTC, real Time Communication). The manual work mobile device 102 may have a display screen and support information browsing, etc., and may also typically be configured with various other types of applications, such as a human-machine conversation type application, a model training type application, a text processing type application, a web browser application, a shopping type application, a search type application, a mailbox client, social platform software, etc.

The warehouse shown in fig. 1 may be an area for storing various types of goods. The warehouse may be provided with shelves or various types of items as desired. The server 106 allocates respective jobs to the robot 104 and the worker, for example, allocates a conveyance job to the robot 104, allocates a special article packing or inspection job to the worker, and the like. Thus, the robot 104 takes/places goods to the corresponding shelf according to the schedule of the server 106, and the operator carries the manual operation mobile device 102, and packages or checks the goods to the position where the goods are located according to the schedule of the server 106. Because server 106 is when the dispatch, through the manual scheduling node of predetermineeing and the scheduling node of robot of predetermineeing, carry out the planning of moving trajectory with the personnel of operation and robot separately, avoid the security risk of the personnel of operation and robot together operation, reduced the influence of manual scheduling to the robot dispatch, realized the cooperation dispatch of manual operation and robot operation to compensate the flexibility of robot operation through manual operation, guaranteed the safety of both, improved holistic operating efficiency in the storehouse.

It should be noted that, the scheduling system applied to the intelligent warehouse shown in fig. 1 is only used for schematically illustrating the scheduling method provided in the embodiment of the present disclosure, and does not limit the scheduling method provided in the embodiment of the present disclosure. The scheduling method provided by the embodiment of the specification can be applied to various scenes needing job scheduling.

Referring to fig. 2, fig. 2 shows a flowchart of a scheduling method according to an embodiment of the present disclosure. In one or more embodiments, the method illustrated in FIG. 2 may be applied to a server. Specifically, the method comprises the following steps.

Step 202: and acquiring the position information of an object to be scheduled, wherein the object to be scheduled comprises a manual operation mobile device and a robot.

The location information may include a departure location and a destination location of the object to be scheduled. The manner of acquiring the position information is not limited. For example, the departure location may be a default known departure location of the system, in which case the known departure location may be obtained from a default setting of the system. For another example, the departure location may be obtained by locating the current location by a locating system of a manually operated mobile device or robot. For another example, the target position may be a position where the system records the work object when the system distributes the work, in which case the target position may be obtained from the position where the work object recorded by the system is located. For another example, the target location may be a target location carried by the job request when the job request is submitted by the object to be scheduled, in which case the target location may be extracted from the job request.

It is understood that, since the manual work mobile device is a device that the operator uses to accept the schedule and carry with him, the position information of the manual work mobile device can be regarded as the position information of the operator at the same time.

Step 204: and under the condition that the object to be scheduled is the manual operation mobile equipment, taking a manual scheduling node preset on a scheduling map as a node allowing the manual operation mobile equipment to stay, and planning a moving track of the manual operation mobile equipment to obtain the moving track of the manual operation mobile equipment.

For example, a dispatch map diagram is shown in fig. 3, wherein black boxes represent manual dispatch nodes and white boxes represent robotic dispatch nodes.

One of the manual dispatch nodes or one of the robot dispatch nodes may be embodied as a location point on a dispatch map, and the location of the node on the dispatch map may be determined by coordinates. The manual scheduling node and the robot scheduling node are located at different positions on the scheduling map, when planning a moving track for the mobile equipment in the human working industry, the manual scheduling node is used as a node which can stay, and the manual scheduling node stays at the robot scheduling node, so that the mutual influence of manual operation and robot operation can be avoided, operators can not stay at the position where the robot stays, and the safety of the operators is ensured. And similarly, when planning the movement track of the robot, taking the robot scheduling node as a node which can stay, and discharging the node which stays at the manual scheduling node.

Based on the above, the manual scheduling node can be used for determining the moving track of an operator, locking and releasing the sub-track using right and the like. For example, the movement track of the worker may be determined by the current position of the worker in combination with a manual scheduling node in the scheduling map. For another example, as shown in fig. 3, when the worker is located on the manual scheduling node, the system automatically releases the usage right of the track between the current manual scheduling node and the upper manual scheduling node, and locks the usage right of the track between the current manual scheduling node and the lower manual scheduling node.

The moving track can be understood as a sequence point or a connecting line of the object to be scheduled reaching the target position from the departure position through the node determined by track planning. The moving track can be understood as a moving track of moving a part of the execution body of the object to be scheduled, or as a moving track of moving the whole execution body of the object to be scheduled. For example, the movement track may be: a swing path of a mechanical arm of the robot from one side to the other side; a movement path along which the robot moves from one position to another; a path of movement of the entire manually operated mobile device from one location to another, and so on.

The planning of the moving track can be realized by adopting a general track planning method. Such as visual, free space, topological, etc., and the present description is not limited in this regard.

Step 206: and under the condition that the object to be scheduled is a robot, taking a robot scheduling node preset on the scheduling map as a node allowing the robot to stay, and planning a moving track of the robot to obtain the moving track of the robot.

The manner of distinguishing the manual scheduling node and the robot scheduling node is not limited, for example, manual scheduling node identifiers or robot scheduling node identifiers can be added on node names of the nodes on a scheduling map, for example, a mapping table can be pre-established, mapping relations between some coordinates and the manual scheduling node can be established in the mapping table, mapping relations between other coordinates and the robot scheduling node can be established, and the like.

Step 208: and sending a scheduling instruction to the manual operation mobile equipment and the robot according to the movement track of the manual operation mobile equipment and the movement track of the robot.

The scheduling instruction is an instruction for indicating the object to be scheduled to move and work. For example, the movement sequence and the use right of the movement track between the objects to be scheduled can be determined according to the influence condition of the movement track between the manual operation mobile device and the robot, and the scheduling instruction for enabling the objects to be scheduled to move according to the determined movement sequence, the movement track and the use right is sent to the objects to be scheduled.

The priority, urgency, and the like of the job may be considered as scheduling factors, and this is not limited in this specification.

According to the method, the manual operation mobile equipment and the robot are separated to plan the moving track through the preset manual scheduling node and the preset robot scheduling node, the manual operation mobile equipment and the movement of the robot are scheduled according to the moving track of the manual operation mobile equipment and the moving track of the robot, the safety risk of manual operation and multi-type robot operation together is avoided, the influence of manual scheduling on robot scheduling is reduced, the cooperative scheduling of manual operation and robot operation is realized, the flexibility of robot operation is compensated through manual operation, the safety of the manual operation mobile equipment and the robot is guaranteed, and the overall operation efficiency in a bin is improved.

In one or more embodiments of the present specification, the method may further include:

determining the job priority of the object to be scheduled by utilizing the job type weight corresponding to the job of the object to be scheduled;

and when planning the moving track, using the moving track corresponding to the object to be scheduled with higher job priority as a constraint condition of the moving track of the object to be scheduled with lower task priority.

The job type weight is used for representing the proportion of different job types in the job priority, and is used for emphasizing the importance of the job types, and the larger the job type weight is, the higher the job priority is.

The job priority refers to the priority of different jobs among a plurality of jobs.

For example, assuming that the initial base value of the job priorities of all jobs is 1, the actual corresponding job priorities are calculated according to a preset weighting algorithm and a job type weight on the basis of the initial base value. The preset weighting algorithm may be a multiplication, addition or more complex algorithm set as required, which is not limited in this specification. Assuming that the A job belongs to the A1 job type, and the corresponding job weight is 0.8, the job priority of the object to be scheduled can be obtained by multiplying 1 by 0.8 to obtain the job priority as 0.8; assuming that the B job belongs to the B1 job type, the corresponding job weight is 0.2, and the job priority of the object to be scheduled may be obtained by multiplying 1 by 0.2, where the job priority is 0.2. When planning the moving track, firstly planning the moving track of the object to be scheduled of the A job, and then using the moving track of the object to be scheduled of the A job as a constraint condition for planning the moving track of the object to be scheduled of the B job to obtain the moving track of the object to be scheduled of the B job.

The method is characterized in that a moving track corresponding to an object to be scheduled with higher job priority is used as a constraint condition of the moving track of the object to be scheduled with lower job priority, namely, if the object to be scheduled with lower job priority and the object to be scheduled with higher job priority conflict at the same position point at the same moment, the object to be scheduled with higher job priority preferentially uses the position point, the object to be scheduled with lower job priority gives way, and the alternative position point passes.

The scheduling method provided in the present specification is further described below by taking an application of scheduling according to job priority as an example with reference to the accompanying drawings. Fig. 4 is a flowchart of a processing procedure of a scheduling method according to an embodiment of the present disclosure, which specifically includes the following steps.

Step 402: and acquiring the position information and the job information of a plurality of objects to be scheduled.

The job information at least comprises job content distributed to an object to be scheduled, such as packaging specified goods, spot check and the like when the specified goods specifically reach a specified target position.

Step 404: and determining the job priorities of the plurality of objects to be scheduled, and sequencing the plurality of objects to be scheduled according to the job priorities.

Step 406: planning moving tracks of the objects to be scheduled according to the ordering of the objects to be scheduled, wherein the moving tracks corresponding to the objects to be scheduled with higher job priority are used as constraint conditions of the moving tracks of the objects to be scheduled with lower task priority.

It can be seen that in this embodiment, the objects to be scheduled are ordered according to the job priority, and the moving track of the objects to be scheduled is planned according to the ordering of the objects to be scheduled, so that the objects to be scheduled with low job priority are given way to the objects to be scheduled with high job priority, the scheduling result meets the requirement of the importance degree of the job, and the scheduling efficiency is improved.

In one or more embodiments of the present disclosure, the task type weight corresponding to the task of the manual task mobile device is greater than the task type weight corresponding to the task of the robot. For example, after the worker and the robot acquire the corresponding jobs, the system may plan a movement path from the current position to the destination target position for each of the worker and the robot. In the planning process of the moving track, the system can adjust the operation priority of the manual operation to be higher according to the higher operation type weight of the manual operation, and correspondingly adjust the operation priority of the robot operation to be lower according to the lower operation type weight of the robot operation, so that the moving track planned by the robot tends to avoid the moving track passed by the manual operation moving equipment.

In addition, in order to further locally fine tune the job priority, so that the job priority of the object to be scheduled better meets the application scenario requirement, in one or more embodiments of the present disclosure, after determining the job priority of the object to be scheduled by using the job type weight corresponding to the job of the object to be scheduled, the method further includes:

and adjusting the job priority of the object to be scheduled by utilizing the emergency degree corresponding to the job of the object to be scheduled.

The degree of urgency is a measurement value indicating the degree of urgency of the job. The emergency degree may be preset by the system according to the type of the job, or set by the user at his own initiative, which is not limited in this specification. Along the above example, assuming that the urgency corresponding to the job a is 0.2, the job priority of the object to be scheduled can multiply the previously obtained job priority 0.8 by the urgency 0.2 to obtain the updated job priority 0.16; assuming that the urgency corresponding to the B job is 1, the job priority of the object to be scheduled may multiply the previously obtained job priority 0.2 by the urgency 1 to obtain the updated job priority 0.2. When planning the moving track, firstly planning the moving track of the object to be scheduled of the B job, and then using the moving track of the object to be scheduled of the B job as a constraint condition for planning the moving track of the object to be scheduled of the A job to obtain the moving track of the object to be scheduled of the A job.

In this embodiment, the task priority is locally and dynamically tuned by using the urgency of the manual task and the robot task, for example, the task priority may be adjusted in multiple layers, so that the scheduling result finally shows an effect meeting the needs of importance and urgency.

In one or more embodiments of the present disclosure, to further improve flexibility of manual operation, the method may further include:

receiving modification information of a manual operation on a moving track through the manual operation moving equipment under the condition that the object to be scheduled is the manual operation moving equipment;

detecting whether the modified movement track allows the manual operation mobile equipment to be used or not according to the modification information;

and sending prompt information indicating whether the modified movement track is allowed to be used or not to the manual operation mobile equipment.

For example, when the manual operation mobile device is a mobile device such as a mobile phone or a tablet computer, a corresponding manual operation management page can be provided, a movement track planned by the system is displayed or played in the manual operation management page, and an operator can flexibly modify the movement track according to the operation requirement, so that the system receives modification information of the operator on the movement track. The modification information may include a correspondence between the location point before modification and the location point after modification. For example, the worker may pass the movement track from one or more manual work scheduling points to another one or more manual work scheduling points. The server can detect whether the modified moving track allows the manual operation mobile device to be used according to factors such as the moving track of the manual operation mobile device of other operators, the moving track of the robot, the moving speed and the like.

The prompt information may be expressed by any one or more modes of text, voice, vibration, bell sound, etc., which is not limited in this specification.

In one or more embodiments of the present disclosure, after a movement track is planned for an operator and a robot, in order to avoid problems such as track derailment collision, when scheduling is performed, the usage right of the track may be detected, so that smooth movement between the operator and the robot is ensured, and collision is avoided. Specifically, the scheduling the movement of the manual operation mobile device and the robot according to the movement track of the manual operation mobile device and the movement track of the robot includes:

splitting the moving track to obtain a plurality of sections of sub-tracks corresponding to the moving track;

when the object to be scheduled moves to the entrance of any section of sub-track according to the moving track, detecting the use right by utilizing the moving information of the object to be scheduled and the moving information of other scheduling targets, wherein the moving information at least comprises the moving track;

sending a scheduling instruction to the object to be scheduled under the condition that the use right detection is passed so as to give the object to be scheduled the use right entering any section of sub-track;

And when the object to be scheduled moves out of the sub-track given with the use right, sending a scheduling instruction to the object to be scheduled so as to cancel the use right of the object to be scheduled on the sub-track.

The specific manner of splitting the moving track is not limited, for example, the whole moving track may be split according to a preset granularity, for example, the whole moving track may be split according to a preset splitting node on the scheduling map, and so on. For another example, the entire movement track may be split according to the manual scheduling node and the robot scheduling node.

The movement information at least comprises a movement track, and according to the requirement of a detection strategy, the movement information can also comprise movement related information such as movement speed and the like.

The right of use refers to the right exclusive to the sub-track.

For example, a section of the moving track S of the object X to be scheduled is split according to every 1 m and the manual scheduling node and the robot scheduling node, and finally a plurality of sections of sub-tracks are obtained by splitting. When the object X to be scheduled moves to the entrance of each section of sub-track, the usage right detection is carried out on the section of sub-track, and the usage right of the section of sub-track can be given to the object X to be scheduled under the condition that the object X to be scheduled does not conflict with other objects to be scheduled.

Any one or more detection modes can be preset according to the application scene requirements, so long as collision among objects to be scheduled can be avoided.

For example, in one or more embodiments of the present disclosure, the usage right detection may include any one or more of collision detection, deadlock detection, and detour detection.

For example: the collision detection processing step includes:

and detecting whether the object to be scheduled has collision risk on any segment of sub-path or not based on the moving speed of the object to be scheduled and any segment of sub-path to be entered and the moving speed and the moving path of other scheduling targets.

For example: the processing step of deadlock detection comprises the following steps:

and judging whether other scheduling targets and the objects to be scheduled apply for any section of sub-track at the same time.

For example: the processing step of detour detection comprises the following steps:

identifying a detour risk area in the dispatch map;

judging whether any section of sub-track to be entered by the object to be scheduled is positioned in the detour risk area;

if yes, acquiring sub-tracks to be executed of other scheduling targets which enter the bypass risk area in the bypass risk area;

And determining whether the object to be scheduled has a detour risk according to whether the sub-tracks to be executed of the object to be scheduled and the other scheduling targets in the detour risk area have conflict.

The bypass risk refers to a risk of a bypass condition caused by the fact that after an object to be scheduled enters a section of sub-track, the object to be scheduled collides with other objects to be scheduled and needs to return to a position point without collision. For example, as shown in the schematic view of the dispatch map of fig. 5, the detour risk area may be represented as one single road shown in the area 1 or may be represented as multiple single roads shown in the area 2 in the dispatch map. As shown in the area 1, when any one object to be scheduled is ready to enter the independent path shown in the area 1, if other objects to be scheduled exist in the area 1 and move in opposite directions, the object to be scheduled and the other objects to be scheduled tend to meet, and one of the objects to be scheduled must be wrapped around to enable the independent path to continue to pass, so that a bypass risk exists. Similarly, region 2 has similar problems.

According to the scheduling map with the bypass risk areas, according to the embodiment, the special bypass risk areas can be identified according to the topological structure of the scheduling map, whether conflicts possibly exist or not is further judged, the occurrence of bypass conditions is avoided, the bypass conditions can be reduced, and scheduling efficiency is improved.

In one or more embodiments of the present disclosure, collision detection and deadlock detection may be performed first, and in the case where collision detection and deadlock detection pass, detour detection may be further performed, so that safety of operators and robots is fully ensured, collisions are reduced, and scheduling efficiency is improved.

In addition, in order to prompt the operator to avoid entering the sub-track without the usage right in time, in one or more embodiments of the present disclosure, the method further includes: and if the object to be scheduled is a man-made work mobile device, sending prompt information without the use right to an operator through the man-made work mobile device if the man-made work mobile device cannot acquire the use right of any section of sub-track.

For example: the operator may be informed of the prompt information through various interaction modes of the manual operation mobile device, for example: a device being stationary without vibration indicates that the lower path is executable and a device being vibrating indicates that the lower path is not executable.

It can be understood that for the dispatch of the robot, since the robot is automatically executed by the dispatch instruction, the robot need not issue corresponding prompt information, but only issue the dispatch instruction for instructing how to move to the robot.

The following describes, with reference to the accompanying drawings, an example of application of the scheduling method provided in the present specification in detour detection. Fig. 6 shows a flowchart of a processing procedure of a scheduling method according to another embodiment of the present disclosure, which specifically includes the following steps.

Step 602: and identifying a bypass risk area in the scheduling map according to the topological structure of the scheduling map.

Step 604: and obtaining the sub-track to be executed of the object to be scheduled.

The sub-track to be executed can be determined according to the complete moving track of the object to be scheduled and the current moved position. For example, the complete moving track of a certain object to be scheduled a includes sub-tracks S1, S2, S3, S4, S5 and S6 in moving order, and when the current entry with the position S3 has been moved, the sub-track to be executed includes S3, S4, S5 and S6, where the next sub-track to be executed is S3.

Step 606: and judging whether the next sub-track to be executed is positioned in the detour risk area.

Step 608: if so, acquiring sub-tracks to be executed of the objects to be scheduled in the bypass risk area, and sub-tracks to be executed of other objects to be scheduled which have entered the bypass risk area in the bypass risk area.

Along the above example, assume that sub-tracks S3 and S4 to be executed of an object a to be scheduled are in a detour risk area, and sub-tracks to be executed of another object B to be scheduled in a detour risk area include S4, S7, and S8.

Step 610: and judging whether the sub-tracks to be executed of the objects to be scheduled in the bypass risk area and the sub-tracks to be executed of other objects to be scheduled which have entered the bypass risk area have conflict.

Along the above example, based on the sub-tracks S3 and S4 to be executed of the object to be scheduled a, the sub-tracks to be executed of the object to be scheduled B include S4, S7 and S8, and the moving speeds of the two, it can be determined whether the two will collide in the sub-track S4.

Step 612: if so, determining that the object to be scheduled has bypass risk, and determining that the application of the right of use for the next sub-track to be executed fails under the condition that the detection of the right of use does not pass.

Step 614: if the conflict does not exist, determining that the object to be scheduled does not have a detour risk, and determining that the use right detection passes, and if the use right detection passes, determining that the application of the use right of the next sub-track to be executed by the object to be scheduled is successful; if the next sub-track to be executed is not located in the detour risk area, determining that the object to be scheduled does not have detour risk, and determining that the application of the right of use of the object to be scheduled to the next sub-track to be executed is successful when the right of use detection passes.

According to the method, a scheme of collaborative scheduling of manual operation and robot operation is initiated, manual scheduling nodes are newly added on the basis of a scheduling map of a robot and used for locking and releasing road rights of manual operation scheduling, manual operation mobile equipment is introduced into a scheduling system, an operator can acquire the positioning of the operator through the manual operation mobile equipment, and various feedback such as jolt or no-shake of the manual operation mobile equipment is used as a signal for executing subsequent sub-tracks. And the detour detection is introduced aiming at a special detour risk area in the bin, so that the problem of detour of a special map is solved. In conclusion, the method improves the dispatching efficiency, avoids the safety risk of manual participation in the dispatching of the robot, and simultaneously ensures that the robot does not collide, deadlock, detour and other problems in the dispatching process through collision detection, deadlock detection and detour detection, thereby improving the dispatching efficiency.

Corresponding to the method embodiment, the present disclosure further provides a scheduling device embodiment, and fig. 6 shows a schematic structural diagram of a scheduling device provided in one embodiment of the present disclosure. As shown in fig. 7, the apparatus includes:

the position acquisition module 702 is configured to acquire position information of an object to be scheduled, wherein the object to be scheduled comprises a manual operation mobile device and a robot.

And the manual operation planning module 704 is configured to plan the moving track of the manual operation mobile equipment by taking a manual scheduling node preset on a scheduling map as a node allowing the manual operation mobile equipment to stay under the condition that the object to be scheduled is the manual operation mobile equipment, so as to obtain the moving track of the manual operation mobile equipment.

And the machine job planning module 706 is configured to plan a movement track of the robot by taking a preset robot scheduling node on the scheduling map as a node allowing the robot to stay in the case that the object to be scheduled is the robot, so as to obtain the movement track of the robot, wherein the manual scheduling node and the robot scheduling node are positioned at different positions on the scheduling map.

A dispatch execution module 708 configured to send dispatch instructions to the manual work mobile device and the robot based on the movement track of the manual work mobile device and the movement track of the robot.

In one or more embodiments of the present disclosure, the apparatus further includes:

the priority determining module is configured to determine the job priority of the object to be scheduled by using the job type weight corresponding to the job of the object to be scheduled, and when planning the movement track, the movement track corresponding to the object to be scheduled with higher job priority is used as the constraint condition of the movement track of the object to be scheduled with lower task priority.

the manual modification module is configured to receive modification information of a manual operation on a movement track through the manual operation mobile equipment under the condition that the object to be scheduled is the manual operation mobile equipment;

the modification confirmation module is configured to detect whether the modified movement track allows the manual operation mobile equipment to be used according to the modification information;

and the modification prompt module is configured to send prompt information indicating whether the modified movement track is allowed to be used or not to the manual operation mobile equipment.

In one or more embodiments of the present disclosure, the task type weight corresponding to the task of the manual task mobile device is greater than the task type weight corresponding to the task of the robot.

In one or more embodiments of the present disclosure, the apparatus further includes: and the priority adjustment module is configured to adjust the job priority of the object to be scheduled by utilizing the emergency degree corresponding to the job of the object to be scheduled.

In one or more embodiments of the present disclosure, the scheduling execution module includes:

the track splitting module is configured to split the moving track to obtain a plurality of sections of sub-tracks corresponding to the moving track;

The road right detection sub-module is configured to detect the use right by utilizing the movement information of the object to be scheduled and the movement information of other scheduling targets when the object to be scheduled moves to the entrance of any section of sub-track according to the movement track;

the weighting module is configured to send a scheduling instruction to the object to be scheduled to give the right of use entering any section of sub-track under the condition that the right of use detection passes;

and the right removing module is configured to send a scheduling instruction to the object to be scheduled when the object to be scheduled moves out of the sub-track given with the right to use so as to cancel the right to use the sub-track by the object to be scheduled.

In one or more embodiments of the present disclosure, the usage right detection includes detour detection, and the right detection sub-module includes:

a region identification sub-module configured to identify a detour risk region in the dispatch map;

the track judging sub-module is configured to judge whether any section of sub-track which the object to be scheduled is about to enter is positioned in the detour risk area;

a track acquisition sub-module configured to acquire a sub-track to be executed in the detour risk area of other scheduling targets which have entered in the detour risk area if the track determination sub-module determines yes;

And the conflict judging sub-module is configured to determine whether the object to be scheduled has a bypass risk according to whether the sub-tracks to be executed of the object to be scheduled and the other scheduling targets in the bypass risk area have conflict.

and the non-right prompt module is configured to send prompt information without using right to an operator through the manual operation mobile equipment if the manual operation mobile equipment cannot obtain the road right of any section of sub-track under the condition that the object to be scheduled is the manual operation mobile equipment.

The foregoing is a schematic scheme of a scheduling apparatus of this embodiment. It should be noted that, the technical solution of the scheduling device and the technical solution of the scheduling method belong to the same concept, and details of the technical solution of the scheduling device, which are not described in detail, can be referred to the description of the technical solution of the scheduling method.

Corresponding to the method embodiment, the present disclosure further provides a method embodiment applied to the manual operation mobile device, and fig. 8 shows a flowchart of a scheduling method provided in one embodiment of the present disclosure. As shown in fig. 8, the method includes:

Step 802: and acquiring the position information of the manual operation mobile equipment, and sending the position information to a server, so that the server can apply the scheduling method to schedule the manual operation mobile equipment.

Step 804: and receiving a scheduling instruction sent by the server.

Step 806: and sending information corresponding to the scheduling instruction to operators according to the scheduling instruction.

In one or more embodiments of the present disclosure, the sending, according to the scheduling instruction, information corresponding to the scheduling instruction to an operator includes: and providing prompt information of the movement track for operators. The method further comprises the steps of:

receiving modification operation of the manual operation mobile equipment on the movement track, and sending modification information corresponding to the modification operation to the server;

a hint information is received from the server indicating whether the modified movement trajectory is allowed to be used.

According to the method, the server performs planning of the moving track of the manual operation mobile equipment and the robot separately through the preset manual operation scheduling node and the preset robot scheduling node, schedules the movement of the manual operation mobile equipment and the robot according to the moving track of the manual operation mobile equipment and the moving track of the robot, avoids the safety risk of manual operation together with multiple types of robots, reduces the influence of manual scheduling on the scheduling of the robot, realizes cooperative scheduling of manual operation and robot operation, compensates the flexibility of robot operation through manual operation, ensures the safety of the manual operation mobile equipment and the robot operation, and improves the overall operation efficiency in a bin.

The above is a schematic scheme of the scheduling method applied to the manual operation mobile device of the present embodiment. It should be noted that, the technical solution of the scheduling method and the technical solution of the scheduling method applied to the server belong to the same concept, and details of the technical solution of the scheduling method which are not described in detail can be referred to the description of the technical solution of the scheduling method applied to the server.

Corresponding to the method embodiment, the present disclosure further provides an apparatus embodiment configured to a manual operation mobile device, and fig. 9 shows a block diagram of a scheduling apparatus provided in one embodiment of the present disclosure. As shown in fig. 9, the apparatus includes:

the location acquisition module 902 is configured to acquire location information of the manual operation mobile device, and send the location information to a server, so that the server can apply a scheduling method applied to the server to schedule the manual operation mobile device according to any embodiment of the present specification.

The instruction acquisition module 904 is configured to receive a scheduling instruction sent by the server.

And the information providing module 906 is configured to send information corresponding to the scheduling instruction to the operator according to the scheduling instruction.

For example, the information corresponding to the scheduling instruction may include information such as a moving direction, a next sub-track to be executed, job information, and the like.

The above is a schematic scheme of the scheduling method configured in the manual operation mobile device in this embodiment. It should be noted that, the technical solution of the scheduling device and the technical solution of the scheduling method applied to the server belong to the same concept, and details of the technical solution of the scheduling device, which are not described in detail, can be referred to the description of the technical solution of the scheduling method applied to the server.

Corresponding to the above method embodiments, the present disclosure further provides a scheduling system embodiment, and fig. 10 shows a block diagram of a scheduling system provided in one embodiment of the present disclosure. As shown in fig. 10, the system includes: a manual work mobile device 1002, a robot 1004, and a server 1006.

The manual operation mobile device 1002 is configured to obtain location information of the manual operation mobile device 1002, and send the location information of the manual operation mobile device 1002 to the server 1006.

The robot 1004 is configured to acquire position information of the robot 1004, and send the position information of the robot 1004 to a server.

The server 1006 is configured to apply the scheduling method according to any embodiment of the present disclosure, and send scheduling instructions to the manual work mobile device 1002 and the robot 1004.

The above is a schematic scheme of the scheduling system of the present embodiment. It should be noted that, the technical solution of the scheduling system and the technical solution of the scheduling method applied to the server belong to the same concept, and details of the technical solution of the scheduling system, which are not described in detail, can be referred to the description of the technical solution of the scheduling method applied to the server.

Fig. 11 illustrates a block diagram of a computing device 1100 provided according to one embodiment of the present description. The components of computing device 1100 include, but are not limited to, a memory 1110 and a processor 1120. Processor 1120 is coupled to memory 1110 via bus 1130, and database 1150 is used to hold data.

The computing device 1100 also includes an access device 1140, the access device 1140 enabling the computing device 1100 to communicate via one or more networks 1160. Examples of such networks include public switched telephone networks (PSTN, public Switched Telephone Network), local area networks (LAN, local Area Network), wide area networks (WAN, wide Area Network), personal area networks (PAN, personal Area Network), or combinations of communication networks such as the internet. The access device 1140 may include one or more of any type of network interface, wired or wireless, such as a network interface card (NIC, network interface controller), such as an IEEE802.11 wireless local area network (WLAN, wireless Local Area Network) wireless interface, a worldwide interoperability for microwave access (Wi-MAX, worldwide Interoperability for Microwave Access) interface, an ethernet interface, a universal serial bus (USB, universal Serial Bus) interface, a cellular network interface, a bluetooth interface, near field communication (NFC, near Field Communication).

In one embodiment of the present description, the above components of computing device 1100, as well as other components not shown in FIG. 11, may also be connected to each other, such as by a bus. It should be understood that the block diagram of the computing device illustrated in FIG. 11 is for exemplary purposes only and is not intended to limit the scope of the present description. Those skilled in the art may add or replace other components as desired.

Computing device 1100 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), mobile phone (e.g., smart phone), wearable computing device (e.g., smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or personal computer (PC, personal Computer). Computing device 1100 may also be a mobile or stationary server.

Wherein the processor 1120 is configured to execute computer-executable instructions that, when executed by the processor, perform the steps of the scheduling method described above.

The foregoing is a schematic illustration of a computing device of this embodiment. It should be noted that, the technical solution of the computing device and the technical solution of the scheduling method belong to the same concept, and details of the technical solution of the computing device, which are not described in detail, can be referred to the description of the technical solution of the scheduling method.

An embodiment of the present disclosure also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the scheduling method described above.

The above is an exemplary version of a computer-readable storage medium of the present embodiment. It should be noted that, the technical solution of the storage medium and the technical solution of the scheduling method belong to the same concept, and details of the technical solution of the storage medium which are not described in detail can be referred to the description of the technical solution of the scheduling method.

An embodiment of the present disclosure also provides a computer program, where the computer program, when executed in a computer, causes the computer to perform the steps of the scheduling method described above.

The above is an exemplary version of a computer program of the present embodiment. It should be noted that, the technical solution of the computer program and the technical solution of the scheduling method belong to the same concept, and details of the technical solution of the computer program, which are not described in detail, can be referred to the description of the technical solution of the scheduling method.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

The computer instructions include computer program code that may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be increased or decreased appropriately according to the requirements of the patent practice, for example, in some areas, according to the patent practice, the computer readable medium does not include an electric carrier signal and a telecommunication signal.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the embodiments are not limited by the order of actions described, as some steps may be performed in other order or simultaneously according to the embodiments of the present disclosure. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the embodiments described in the specification.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

The preferred embodiments of the present specification disclosed above are merely used to help clarify the present specification. Alternative embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the teaching of the embodiments. The embodiments were chosen and described in order to best explain the principles of the embodiments and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. This specification is to be limited only by the claims and the full scope and equivalents thereof.

Claims

1. A scheduling method, comprising:

acquiring position information of an object to be scheduled, wherein the object to be scheduled comprises a manual operation mobile device and a robot;

when the object to be scheduled is a manual operation mobile device, taking a manual scheduling node preset on a scheduling map as a node allowing the manual operation mobile device to stay, and planning a moving track of the manual operation mobile device to obtain the moving track of the manual operation mobile device;

when the object to be scheduled is a robot, taking a robot scheduling node preset on the scheduling map as a node allowing the robot to stay, planning a moving track of the robot to obtain the moving track of the robot, wherein the manual scheduling node and the robot scheduling node are positioned at different positions on the scheduling map;

and sending a scheduling instruction to the manual operation mobile equipment and the robot according to the movement track of the manual operation mobile equipment and the movement track of the robot.

2. The method of claim 1, further comprising:

3. The method of claim 1, further comprising:

4. The method of claim 2, wherein the job type weight for the job of the manual job mobile device is greater than the job type weight for the job of the robot.

5. The method of claim 2, wherein after determining the job priority of the object to be scheduled by using the job type weight corresponding to the job of the object to be scheduled, further comprising:

6. The method according to any one of claims 1-5, wherein the sending scheduling instructions to the manual work mobile device and the robot according to the movement track of the manual work mobile device and the movement track of the robot comprises:

7. The method of claim 6, the usage right detection comprising detour detection, the processing step of detour detection comprising:

identifying a detour risk area in the dispatch map;

8. The method of claim 6, further comprising:

and if the object to be scheduled is a man-made work mobile device, sending prompt information without the use right to an operator through the man-made work mobile device if the man-made work mobile device cannot acquire the use right of any section of sub-track.

9. A job scheduling method is applied to a manual job mobile device, and comprises the following steps:

acquiring position information of a manual operation mobile device, and sending the position information to a server to enable the server to schedule the manual operation mobile device by applying the method according to any one of claims 1-8;

receiving a scheduling instruction sent by the server;

And sending information corresponding to the scheduling instruction to operators according to the scheduling instruction.

10. The method of claim 9, wherein the sending, according to the scheduling instruction, information corresponding to the scheduling instruction to the operator includes: providing prompt information of the moving track for operators;

the method further comprises the steps of:

11. A scheduling system, comprising: manual operation mobile equipment, a robot and a server;

the manual operation mobile equipment is configured to acquire the position information of the manual operation mobile equipment and send the position information of the manual operation mobile equipment to a server;

the robot is configured to acquire the position information of the robot and send the position information of the robot to a server;

the server configured to apply the method of any of claims 1-8, to send scheduling instructions to the manual work mobile device and the robot.

12. A computing device, comprising:

a memory and a processor;

the memory is configured to store computer executable instructions, the processor being configured to execute the computer executable instructions, which when executed by the processor, implement the steps of the scheduling method of any one of claims 1-10.

13. A computer readable storage medium storing computer executable instructions which when executed by a processor implement the steps of the scheduling method of any one of claims 1-10.