CN117872998A - Scheduling control method and device for double-acting sub-equipment and computer equipment - Google Patents
Scheduling control method and device for double-acting sub-equipment and computer equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The present disclosure relates to the field of automation devices, and in particular, to a scheduling control method and apparatus for a dual-power device, and a computer device. The dual-mover device comprises two independently controlled mover devices, the method comprising: in response to a scheduled task for a target product, determining a target sub-device for executing the scheduled task; when the target sub-equipment is in an operation state, acquiring equipment information of opposite-side sub-equipment; when the optimal scheduling condition is met, acquiring the equipment information of the target sub-equipment and the working position of the target product; determining a non-interference track based on the opposite side sub-equipment, the equipment information of the target sub-equipment and the working position of the target product; and generating a motion control instruction based on the non-interference track so as to drive the opposite side sub-equipment to complete the scheduling task of the target product. The method improves the product circulation efficiency of the automation equipment.
Description
Technical Field
The present disclosure relates to the field of automation devices, and in particular, to a scheduling control method and apparatus for a dual-power device, and a computer device.
Background
The multifunctional test line device is a device for testing and detecting electronic products, and can perform various testing and detecting operations on a production line, including electrical testing, functional testing, reliability testing and the like. These tests can check the performance, quality and reliability of the electronic product, ensuring that the product meets relevant standards and requirements. The multifunctional test line device generally comprises a test instrument, a test fixture, test software and other components, and can quickly and accurately test and diagnose various electronic products, such as mobile phones, tablet computers, televisions, audios and the like. The equipment can greatly improve the production efficiency and the product quality, and reduce the occurrence of product defects and quality problems.
The design and manufacture of the multifunctional test line device requires consideration of various factors such as the accuracy, speed and reliability of the test, the degree of automation of the test, the adaptability and flexibility of the test, etc. Because different electronic products have different testing requirements, the multifunctional testing line body equipment needs to be customized and adjusted according to specific products.
In the related art, a common type of automation equipment is mainly executed on two sides in use, each side is provided with a right-angle arm, the right-angle arm is used as a dispatching clamp of a product to be tested, and each right-angle arm is used for taking out the product on a lower station and is matched with the product to realize an automation flow.
However, in the process of scheduling control, the existing automation equipment based on double right angle arms has the following technical problems:
the single-sided right angle arm is usually at one side corresponding to the single-sided right angle arm, so that if one side station is idle, the right angle arm is idle, and the overall efficiency of the production line is reduced.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a scheduling control method, apparatus, computer device, computer-readable storage medium, and computer program product for a double-acting sub-device capable of improving product flow efficiency of an automation device.
In a first aspect, the present application provides a scheduling control method for a dual-power sub-device. The double-acting sub-device comprises two sub-devices, which are independently controlled, the method comprising:
in response to a scheduled task for a target product, determining a target sub-device for executing the scheduled task;
when the target sub-equipment is in an operation state, acquiring equipment information of opposite-side sub-equipment, wherein the opposite-side sub-equipment is the other sub-equipment except the target sub-equipment in the two sub-equipment;
when the optimal scheduling condition is met, acquiring the equipment information of the target sub-equipment and the working position of the target product;
determining a non-interference track based on the opposite side sub-equipment, the equipment information of the target sub-equipment and the working position of the target product;
and generating a motion control instruction based on the non-interference track so as to drive the opposite side sub-equipment to complete the scheduling task of the target product.
In one embodiment, the determining the target sub-device for executing the scheduling task includes:
determining a working area where the target product is located;
and determining target sub-equipment for executing the scheduling task according to the working area.
In one embodiment, the working area is determined by the size and operating area of the corresponding sub-device.
In one embodiment, the acquiring device information of the opposite side sub-device includes:
acquiring the running state of the opposite side rotor equipment;
and when the opposite side sub-equipment is in an idle state, judging that the opposite side sub-equipment meets the optimal scheduling condition, and simultaneously acquiring the position information and the size information of the opposite side sub-equipment.
In one embodiment, the determining the non-interference track based on the device information of the opposite side sub-device, the target sub-device, and the working position of the target product includes:
obtaining a current working area of the target sub-equipment according to the equipment information of the target sub-equipment;
determining a non-interference area based on the position information and the size information of the opposite side sub-equipment and the current working area of the target sub-equipment, and determining a target safety position by combining the working position of the target product;
and determining the non-interference track based on the position information of the opposite side sub-equipment, the target safety position and the working position of the target product.
In one embodiment, the determining the non-interference area based on the position information and the size information of the opposite side sub-device and the current working area of the target sub-device, and determining the target safety position in combination with the working position of the target product includes:
removing the current working area of the target sub-equipment in the public area where the two sub-equipment are located to obtain the non-interference area;
and selecting the position closest to the working position of the target product in the non-interference area as a target safety position.
In one embodiment, the removing the working area where the target sub-device is currently located in the common area where the two sub-devices are located to obtain the non-interference area includes:
creating a plurality of active area grids for the two pieces of sub-equipment respectively to obtain the public area;
the active area grids are created by taking the real-time position of the sub-equipment as the center and the movable direction of the sub-equipment as the extending direction of grid lines, and all the working areas are respectively positioned in different active area grids.
In a second aspect, the application also provides a scheduling control device of the double-acting sub-device. The double-acting sub-device comprises two sub-devices, which are independently controlled, the method comprising:
the task response module is used for responding to a scheduling task of a target product and determining target sub-equipment for executing the scheduling task;
the device information module is used for acquiring device information of opposite side sub-devices when the target sub-device is in an operation state, wherein the opposite side sub-devices are the other sub-devices except the target sub-device in the two sub-devices;
the optimal scheduling judging module is used for acquiring the equipment information of the target sub-equipment and the working position of the target product when the optimal scheduling condition is met;
the non-interference track module is used for determining a non-interference track based on the equipment information of the opposite side sub-equipment, the target sub-equipment and the working position of the target product;
and the control instruction module is used for generating a motion control instruction based on the non-interference track so as to drive the opposite side sub-equipment to complete the scheduling task of the target product.
In one embodiment, the two pieces of sub-equipment respectively correspond to at least two working areas, and the task response module includes:
the working area determining module is used for determining a working area where the target product is located;
and the equipment determining module is used for determining target sub-equipment for executing the scheduling task according to the working area.
In one embodiment, the working area is determined by the size and operating area of the corresponding sub-device.
In one embodiment, the device information module includes:
the operation state module is used for acquiring the operation state of the opposite side active cell equipment;
and the state judging module is used for judging that the opposite side sub-equipment meets the optimal scheduling condition when the opposite side sub-equipment is in an idle state, and simultaneously acquiring the position information and the size information of the opposite side sub-equipment.
In one embodiment, the non-interfering trace module comprises:
the device information analysis module is used for obtaining the current working area of the target sub-device according to the device information of the target sub-device;
the target position determining module is used for determining a non-interference area based on the position information and the size information of the opposite side sub-equipment and the current working area of the target sub-equipment, and determining a target safety position by combining the working position of the target product;
and the track generation module is used for determining the non-interference track based on the position information of the opposite side sub-equipment, the target safety position and the working position of the target product.
In one embodiment, the target location determination module includes:
the non-interference area determining module is used for removing the current working area of the target sub-equipment in the public area where the two sub-equipment are located to obtain the non-interference area;
and the safety position selecting module is used for selecting the position closest to the working position where the target product is located in the non-interference area as the target safety position.
In one embodiment, the non-interference area determining module comprises, before:
a public area determining module, configured to create a plurality of active area grids for the two pieces of sub-equipment respectively, so as to obtain the public area;
the active area grids are created by taking the real-time position of the sub-equipment as the center and the movable direction of the sub-equipment as the extending direction of grid lines, and all the working areas are respectively positioned in different active area grids.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the steps in the scheduling control method of the double-acting sub-device according to any one of the embodiments of the first aspect.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of a scheduling control method for a dual sub-device according to any one of the embodiments of the first aspect.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of a scheduling control method for a dual sub-device according to any one of the embodiments of the first aspect.
The above-mentioned scheduling control method, device, computer device, storage medium and computer program product of double-acting sub-device, derive through the technical characteristics in the claims, can reach the following beneficial effect of corresponding technical problem in the background art:
according to the scheduling control method of the double-acting sub-equipment, the working areas of the two-side sub-equipment are determined mainly through equipment information, in the control process, when one right-angle wall needs to move, the target sub-equipment responsible for scheduling a target product and executing the scheduling task can be determined in response to the scheduling task of the target product, and then the other side sub-equipment can be set as the opposite side sub-equipment (namely under the equipment framework of the double-acting sub-equipment, when one sub-equipment is selected as the target sub-equipment, the other sub-equipment automatically serves as the opposite side sub-equipment to participate in calculation). At this time, device information of the opposite side sub-device may be acquired, and the position of the right angle arm, and the driving state of the currently performed task may be determined by the device information. Therefore, a non-interference track which can be moved by the corresponding track in the movement of the target sub-equipment can be determined, namely, the track in the area where the target sub-equipment can safely move can be finally generated according to the non-interference track, and the target sub-equipment is driven to complete the scheduling control of the target product in the non-interference area based on the movement control instruction. In implementation, the scheme provided by the application can utilize the equipment information of the opposite side sub-equipment in real time in scheduling control to flexibly determine the non-interference track for the target sub-equipment to move, so that the target sub-equipment can be planned to move according to the non-interference track, and the scheduling control efficiency of the double sub-equipment is improved.
Drawings
FIG. 1 is an application environment diagram of a scheduling control method for a dual-active sub-device in one embodiment;
fig. 2 is a first flow diagram of a scheduling control method of a dual-power sub-device according to an embodiment;
fig. 3 is a second flow chart of a scheduling control method of a dual-power sub-device according to another embodiment;
fig. 4 is a third flow diagram of a scheduling control method of a dual-power sub-device according to another embodiment;
fig. 5 is a fourth flowchart of a scheduling control method of a dual-power sub-device according to another embodiment;
fig. 6 is a fifth flowchart of a scheduling control method of a dual-power sub-device according to another embodiment;
FIG. 7 is a schematic diagram of a target security location in one specific example;
fig. 8 is a sixth flowchart of a scheduling control method of a dual-power sub-device according to another embodiment;
fig. 9 is a block diagram of a scheduling control apparatus of a dual sub-device in one embodiment;
fig. 10 is an internal structural view of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The scheduling control method of the double-acting sub-device, provided by the embodiment of the application, can be applied to an application environment shown in fig. 1. The double-acting sub-device can comprise two sub-devices, wherein the two sub-devices are independently controlled, and a common movement area exists between the two sub-devices. As shown in fig. 1, fig. 1 shows a specific implementation case conforming to the double-rotor device, including two side stations, a side a has a number of stations A1 … ANn, a side B has a number of stations B1 … BNn, and a side AB has a single feeding platform, which together share a discharging platform. The XY right angle arm of A side (by an X axle and a Y axle, a Z axle is constituteed) is mainly responsible for getting up unprocessed product from A side material loading platform, puts on the station of A side no product, gets up the product again and puts on the unloading platform after the product processing is accomplished, and the work of B side is the same.
In one embodiment, as shown in fig. 2, a scheduling control method of a dual-active sub-device is provided, and the method is applied to a control terminal of the dual-active sub-device for illustration, and includes the following steps:
step 202: in response to a scheduled task for a target product, a target sub-device for performing the scheduled task is determined.
For example, the control terminal may determine a target sub-device for performing a scheduled task of a target product in response to the scheduled task of the target product.
Step 204: and when the target sub-equipment is in an operation state, acquiring equipment information of opposite-side sub-equipment, wherein the opposite-side sub-equipment is the other sub-equipment except the target sub-equipment in the two sub-equipment.
For example, in order to implement a scheduling task for a target product, when planning a motion trajectory for a target sub-device, it is necessary to first determine a movable range of the target sub-device. Thus, it is necessary to determine the interference range of the other side mover device. At this time, the control terminal may set the other sub-device as the opposite-side sub-device, and acquire device information of the opposite-side sub-device.
Step 206: and when the optimal scheduling condition is met, acquiring the equipment information of the target sub-equipment and the working position of the target product.
The control terminal may obtain the device information of the target sub-device and the working position where the target product is located when the optimal scheduling condition is satisfied.
Step 208: and determining a non-interference track based on the opposite side sub-equipment, the equipment information of the target sub-equipment and the working position of the target product.
Illustratively, after obtaining the device information, determining a non-interference track based on the device information of the opposite side sub-device, the target sub-device and the working position of the target product.
Step 2010: and generating a motion control instruction based on the non-interference track so as to drive the opposite side sub-equipment to complete the scheduling task of the target product.
For example, the control terminal may generate motion control instructions based on the non-interference trajectory to drive the pair of side sub-devices to complete the scheduling task of the target product.
In the scheduling control method of the double-acting sub-equipment, the technical characteristics in the embodiment are combined to carry out reasonable deduction, so that the following beneficial effects of solving the technical problems in the background technology can be achieved:
according to the scheduling control method of the double-acting sub-equipment, the working areas of the two-side sub-equipment are determined mainly through equipment information, in the control process, when one right-angle wall needs to move, the target sub-equipment responsible for scheduling a target product and executing the scheduling task can be determined in response to the scheduling task of the target product, and then the other side sub-equipment can be set as the opposite side sub-equipment (namely under the equipment framework of the double-acting sub-equipment, when one sub-equipment is selected as the target sub-equipment, the other sub-equipment automatically serves as the opposite side sub-equipment to participate in calculation). At this time, device information of the opposite side sub-device may be acquired, and the position of the right angle arm, and the driving state of the currently performed task may be determined by the device information. Therefore, a non-interference track which can be moved by the corresponding track in the movement of the target sub-equipment can be determined, namely, the track in the area where the target sub-equipment can safely move can be finally generated according to the non-interference track, and the target sub-equipment is driven to complete the scheduling control of the target product in the non-interference area based on the movement control instruction. In implementation, the scheme provided by the application can utilize the equipment information of the opposite side sub-equipment in real time in scheduling control to flexibly determine the non-interference track for the target sub-equipment to move, so that the target sub-equipment can be planned to move according to the non-interference track, and the scheduling control efficiency of the double sub-equipment is improved.
In one embodiment, as shown in fig. 3, the two sub-devices respectively correspond to at least two working areas, and step 202 includes:
step 302: and determining the working area where the target product is located.
Step 304: and determining target sub-equipment for executing the scheduling task according to the working area.
In one embodiment, the working area is determined by the size and operating area of the corresponding sub-device.
In one embodiment, as shown in FIG. 4, step 204 includes:
step 402: and acquiring the operation state of the opposite side rotor equipment.
Step 404: and when the opposite side sub-equipment is in an idle state, judging that the opposite side sub-equipment meets the optimal scheduling condition, and simultaneously acquiring the position information and the size information of the opposite side sub-equipment.
In one embodiment, as shown in FIG. 5, step 208 includes:
step 502: and obtaining the current working area of the target sub-equipment according to the equipment information of the target sub-equipment.
Step 504: and determining a non-interference area based on the position information and the size information of the opposite side sub-equipment and the current working area of the target sub-equipment, and determining a target safety position by combining the working position of the target product.
Step 506: and determining the non-interference track based on the position information of the opposite side sub-equipment, the target safety position and the working position of the target product.
In one embodiment, as shown in FIG. 6, step 504 includes:
step 602: and removing the working area where the target sub-equipment is currently located in the public area where the two sub-equipment is located to obtain the non-interference area.
The control terminal may first obtain information of a common area where the two pieces of the target sub-devices are located, and remove a working area where the target sub-device is currently located in the common area, so as to obtain a non-interference area.
Step 604: and selecting the position closest to the working position of the target product in the non-interference area as a target safety position.
After determining the non-interference area, the control terminal may select, as the target safety position, a position closest to the working position where the target product is located in the non-interference area, where the target safety position is a specific safety point.
Specifically, as shown in fig. 7, in the scheduling task executed by the target sub-device, the target sub-device uses the working position A1 as a starting position, the working position B1n as a target position, and the movement of the opposite sub-device at the working position B1n is taken as an example, and other situations are not described in detail. In the scheduling control, after determining the non-interference area, the control terminal may select the point position C1 closest to the working position B1n as the target safety position, and use the point position C1 as the target position of the first moving stage of the target sub-device. When the opposite side sub-devices at the working position B1n leave, the control target sub-device moves from the point position C1 to the working position B1n, so that collision avoidance between the two side sub-devices is realized.
In one embodiment, as shown in FIG. 8, step 602 includes, prior to:
step 802: creating a plurality of active area grids for the two pieces of sub-equipment respectively to obtain the public area; the active area grids are created by taking the real-time position of the sub-equipment as the center and the movable direction of the sub-equipment as the extending direction of grid lines, and all the working areas are respectively positioned in different active area grids.
In an exemplary embodiment, the control terminal may create a plurality of active area grids for the two sub-devices respectively to obtain the common area, where the two active area grids may also form a non-interference grid area in the interleaving, and move in the non-interference grid area, so that collision between the two sub-devices can be avoided. In the scheduling control, the control terminal may first determine a non-interference grid, then further determine, in the non-interference grid, a point C1 closest to the working position B1n as a target safety position, and then use the point C1 as a target position of the first moving stage of the target sub-device. When the opposite side sub-devices at the working position B1n leave, the control target sub-device moves from the point position C1 to the working position B1n, so that collision avoidance between the two side sub-devices is realized.
In this embodiment, when determining the non-interference area, the active area grid corresponding to the two side sub-devices is used as the active area of the base, and the track interference area is used to cover and exclude the active area grid, so as to finally obtain the non-interference area, and in the implementation, the non-interference area can be adapted to the actual movable range of the device, so that the efficiency and accuracy of determining the non-interference area are improved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a scheduling control device of the double-acting sub-equipment for realizing the scheduling control method of the double-acting sub-equipment. The implementation scheme of the solution provided by the device is similar to the implementation scheme described in the above method, so the specific limitation in the embodiments of the scheduling control device for one or more double-acting sub-devices provided below may refer to the limitation of the scheduling control method for one double-acting sub-device in the above description, and will not be repeated herein.
In one embodiment, as shown in fig. 9, there is provided a scheduling control apparatus of a dual-power sub-device, including: the double-acting sub-device comprises two sub-devices, the sub-devices are independently controlled, a common movement area exists between the two sub-devices, and the device comprises: the system comprises a task response module, a device information module, an optimal scheduling discrimination module, a non-interference track module and a control instruction module:
the task response module is used for responding to a scheduling task of a target product and determining target sub-equipment for executing the scheduling task;
the device information module is used for acquiring device information of opposite side sub-devices when the target sub-device is in an operation state, wherein the opposite side sub-devices are the other sub-devices except the target sub-device in the two sub-devices;
the optimal scheduling judging module is used for acquiring the equipment information of the target sub-equipment and the working position of the target product when the optimal scheduling condition is met;
the non-interference track module is used for determining a non-interference track based on the equipment information of the opposite side sub-equipment, the target sub-equipment and the working position of the target product;
and the control instruction module is used for generating a motion control instruction based on the non-interference track so as to drive the opposite side sub-equipment to complete the scheduling task of the target product.
In one embodiment, the two pieces of sub-equipment respectively correspond to at least two working areas, and the task response module includes:
the working area determining module is used for determining a working area where the target product is located;
and the equipment determining module is used for determining target sub-equipment for executing the scheduling task according to the working area.
In one embodiment, the working area is determined by the size and operating area of the corresponding sub-device.
In one embodiment, the device information module includes:
the operation state module is used for acquiring the operation state of the opposite side active cell equipment;
and the state judging module is used for judging that the opposite side sub-equipment meets the optimal scheduling condition when the opposite side sub-equipment is in an idle state, and simultaneously acquiring the position information and the size information of the opposite side sub-equipment.
In one embodiment, the non-interfering trace module comprises:
the device information analysis module is used for obtaining the current working area of the target sub-device according to the device information of the target sub-device;
the target position determining module is used for determining a non-interference area based on the position information and the size information of the opposite side sub-equipment and the current working area of the target sub-equipment, and determining a target safety position by combining the working position of the target product;
and the track generation module is used for determining the non-interference track based on the position information of the opposite side sub-equipment, the target safety position and the working position of the target product.
In one embodiment, the target location determination module includes:
the non-interference area determining module is used for removing the current working area of the target sub-equipment in the public area where the two sub-equipment are located to obtain the non-interference area;
and the safety position selecting module is used for selecting the position closest to the working position where the target product is located in the non-interference area as the target safety position.
In one embodiment, the non-interference area determining module comprises, before:
a public area determining module, configured to create a plurality of active area grids for the two pieces of sub-equipment respectively, so as to obtain the public area;
the active area grids are created by taking the real-time position of the sub-equipment as the center and the movable direction of the sub-equipment as the extending direction of grid lines, and all the working areas are respectively positioned in different active area grids.
The above-mentioned each module in the dispatch control device of a dual-power sub-device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 10. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program, when executed by the processor, implements a scheduling control method for a dual sub-device. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of scheduling control of a double-acting sub-device, wherein the double-acting sub-device comprises two sub-devices, the sub-devices being independently controlled, the method comprising:
in response to a scheduled task for a target product, determining a target sub-device for executing the scheduled task;
when the target sub-equipment is in an operation state, acquiring equipment information of opposite-side sub-equipment, wherein the opposite-side sub-equipment is the other sub-equipment except the target sub-equipment in the two sub-equipment;
when the optimal scheduling condition is met, acquiring the equipment information of the target sub-equipment and the working position of the target product;
determining a non-interference track based on the opposite side sub-equipment, the equipment information of the target sub-equipment and the working position of the target product;
and generating a motion control instruction based on the non-interference track so as to drive the opposite side sub-equipment to complete the scheduling task of the target product.
2. The scheduling control method according to claim 1, wherein two of the sub-devices correspond to at least two working areas, respectively, and the determining a target sub-device for performing the scheduling task includes:
determining a working area where the target product is located;
and determining target sub-equipment for executing the scheduling task according to the working area.
3. The scheduling control method of claim 2, wherein the working area is determined by a size and an operation area of the corresponding sub-device.
4. The scheduling control method of claim 3, wherein the acquiring device information of the opposite side sub-device includes:
acquiring the running state of the opposite side rotor equipment;
and when the opposite side sub-equipment is in an idle state, judging that the opposite side sub-equipment meets the optimal scheduling condition, and simultaneously acquiring the position information and the size information of the opposite side sub-equipment.
5. The scheduling control method according to claim 1, wherein the determining a non-interference track based on the device information of the opposite side sub-device, the target sub-device, and the working position of the target product includes:
obtaining a current working area of the target sub-equipment according to the equipment information of the target sub-equipment;
determining a non-interference area based on the position information and the size information of the opposite side sub-equipment and the current working area of the target sub-equipment, and determining a target safety position by combining the working position of the target product;
and determining the non-interference track based on the position information of the opposite side sub-equipment, the target safety position and the working position of the target product.
6. The scheduling control method according to claim 5, wherein the determining a non-interference area based on the position information and the size information of the opposite side sub-device and the current working area of the target sub-device, and determining the target safety position in combination with the working position of the target product includes:
removing the current working area of the target sub-equipment in the public area where the two sub-equipment are located to obtain the non-interference area;
and selecting the position closest to the working position of the target product in the non-interference area as a target safety position.
7. The scheduling control method according to claim 6, wherein the removing the working area where the target sub-device is currently located in the common area where the two sub-devices are located to obtain the non-interference area includes:
creating a plurality of active area grids for the two pieces of sub-equipment respectively to obtain the public area;
the active area grids are created by taking the real-time position of the sub-equipment as the center and the movable direction of the sub-equipment as the extending direction of grid lines, and all the working areas are respectively positioned in different active area grids.
8. A dispatch control apparatus for a double-acting sub-device, wherein the double-acting sub-device comprises two sub-devices, the sub-devices being independently controlled, the method comprising:
the task response module is used for responding to a scheduling task of a target product and determining target sub-equipment for executing the scheduling task;
the device information module is used for acquiring device information of opposite side sub-devices when the target sub-device is in an operation state, wherein the opposite side sub-devices are the other sub-devices except the target sub-device in the two sub-devices;
the optimal scheduling judging module is used for acquiring the equipment information of the target sub-equipment and the working position of the target product when the optimal scheduling condition is met;
the non-interference track module is used for determining a non-interference track based on the equipment information of the opposite side sub-equipment, the target sub-equipment and the working position of the target product;
and the control instruction module is used for generating a motion control instruction based on the non-interference track so as to drive the opposite side sub-equipment to complete the scheduling task of the target product.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410088059.4A CN117872998A (en) | 2024-01-22 | 2024-01-22 | Scheduling control method and device for double-acting sub-equipment and computer equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410088059.4A CN117872998A (en) | 2024-01-22 | 2024-01-22 | Scheduling control method and device for double-acting sub-equipment and computer equipment |
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| CN117872998A true CN117872998A (en) | 2024-04-12 |
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| CN202410088059.4A Pending CN117872998A (en) | 2024-01-22 | 2024-01-22 | Scheduling control method and device for double-acting sub-equipment and computer equipment |
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| CN (1) | CN117872998A (en) |
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