CN115564178A - Task order combination method, device, equipment and storage medium - Google Patents

Task order combination method, device, equipment and storage medium Download PDF

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CN115564178A
CN115564178A CN202211058161.7A CN202211058161A CN115564178A CN 115564178 A CN115564178 A CN 115564178A CN 202211058161 A CN202211058161 A CN 202211058161A CN 115564178 A CN115564178 A CN 115564178A
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task
emptying
mobile robot
orders
special machine
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谢俊华
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Shenzhen Youibot Robotics Technology Co ltd
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Shenzhen Youibot Robotics Technology Co ltd
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q50/04—Manufacturing

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Abstract

The application relates to the technical field of robots, and provides a method, a device, equipment and a storage medium for merging task orders, wherein the method comprises the steps of generating a first task queue based on receiving time, and if a task order containing a special machine emptying point exists in the first task queue, adjusting the task order containing the special machine emptying point to the front row of the task queue; and when the number of the empty slots is not less than the number of the special machine station emptying points, distributing the task orders containing the special machine station emptying points to the mobile robot to generate a second task queue. Through the mode, the priority of the special emptying points is set to be higher than that of the common emptying points, and when the number of the spare box positions of the mobile robot is not smaller than that of the special emptying points, the task orders of the special emptying points are processed preferentially and combined, so that the practicability of the mobile robot is improved, and the technical problem that the practicability of the existing mobile robot is low in the carrying process is solved.

Description

Task order combination method, device, equipment and storage medium
Technical Field
The present invention relates to the field of robotics, and in particular, to a method, an apparatus, a device, and a computer-readable storage medium for merging task orders.
Background
In a semiconductor production workshop, the handling of production materials is performed by mobile robots, and common mobile robots are provided with 4, 6 and 8 unequal storage slots for storing the production materials. In the production process, the mobile robot takes materials from the fixed material rack and goes to a production machine table for loading; or taking down the materials from the production machine and then fixing the material rack to place the materials. When the installation position of the machine platform is close to a wall or other obstacles, the material stored on one side of the obstacle of the mobile robot cannot be taken out by the mechanical arm due to the shielding of the wall or the obstacle. At this time, the task execution system will report an error, and the exception cannot be automatically recovered. Manual intervention by personnel is required at this time. In the semiconductor industry, especially where cleanliness levels are critical, unattended operation is approached, where human intervention can result in unacceptable loss of capacity. Therefore, how to solve the problem that the practicability of the conventional mobile robot is low in the transportation process is a problem to be solved urgently at present.
Disclosure of Invention
The invention mainly aims to provide a task order combination method, a task order combination device and a computer readable storage medium, and aims to solve the technical problem that the existing mobile robot is low in practicability in the carrying process.
In order to achieve the above object, the present invention provides a task order combining method, where the combining method includes generating a first task queue of task orders based on receiving time of the received task orders, and querying whether a task order including a discharging point of a special machine exists in the first task queue; if the first task queue has the task order containing the special machine discharging point, adjusting the task order containing the special machine discharging point to the front row of the first task queue based on the priority of the preset machine discharging point; and when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue.
Further, if the first task queue has a task order including the special machine emptying point, the method further includes, after adjusting the task order including the special machine emptying point to the front of the first task queue based on a priority of a preset machine emptying point, the method further includes:
when the number of the vacant slots of the mobile robot is smaller than the number of the special machine station emptying points, distributing the same number of task orders containing the special machine station emptying points to the mobile robot according to the number of the vacant slots of the mobile robot, and generating a second task queue;
further, when the number of the empty slots of the mobile robot is smaller than the number of the special machine emptying points, allocating the same number of task orders including the special machine emptying points to the mobile robot according to the number of the empty slots of the mobile robot, and before generating the second task queue, the method includes:
emptying the task orders distributed to the second task sequence in the first task sequence before the second task sequence is executed;
further, when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, allocating all the task orders including the special machine station emptying points to the mobile robot, and after generating the second task queue, further comprising:
after the special machine station emptying points are distributed to the vacant slots of the mobile robot, distributing the task orders containing the common machine station emptying points to the vacant slots of the mobile robot, wherein the machine station emptying points comprise the common machine station emptying points and the special machine station emptying points;
further, generating a first task queue of the task order based on the receiving time of receiving the task order, and inquiring whether a task order containing a discharging point of a special machine exists in the first task queue or not, wherein the method comprises the following steps:
binding the box position of the mobile robot with the machine station emptying point, numbering the box position of the mobile robot, and generating a task queue according to the numbering sequence;
further, generating a first task queue of the task order based on the receiving time of receiving the task order, and inquiring whether a task order containing a discharging point of a special machine exists in the first task queue or not, wherein the method comprises the following steps:
setting the priority of the discharging point of the special machine table to be higher than that of the discharging point of the common machine table;
further, after generating a first task queue of the task order based on the receiving time of receiving the task order and inquiring whether the task order containing the emptying point of the special machine exists in the first task queue, the method further includes:
and acquiring task information of the task order, wherein the task information comprises a task starting point, a task end point and the serial number of the mobile robot.
In addition, in order to achieve the above object, the present invention further provides a task order merging device, where the merging device includes a priority setting module, configured to generate a first task queue of task orders based on receiving time of receiving task orders, and query whether a task order including a discharging point of a special machine exists in the first task queue;
a task order adjusting module, configured to adjust a task order including the special machine emptying point to the front of the first task queue based on a priority of a preset machine emptying point if the first task queue includes a task order including the special machine emptying point;
and the task order combining module is used for distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue when the number of the spare slots of the mobile robot is not less than the number of the special machine station emptying points.
In addition, in order to achieve the above object, the present invention further provides a task order combining device, where the combining device includes a processor, a memory, and a task order combining program stored in the memory and executable by the processor, where the combining program, when executed by the processor, implements the steps of the combining method as described above.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, having a task order combination program stored thereon, wherein the combination program, when executed by a processor, implements the steps of the task order combination method as described above.
The invention provides a task order combination method, which comprises the steps of generating a first task queue of a task order based on the receiving time of receiving the task order, and inquiring whether the first task queue contains the task order containing a special machine emptying point or not; if the first task queue has the task order containing the special machine discharging point, adjusting the task order containing the special machine discharging point to the front row of the first task queue based on the priority of the preset machine discharging point; and when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue. Through the mode, the priority of the special emptying points is higher than that of the common emptying points, and when the number of the spare box positions of the mobile robot is not less than that of the special emptying points, the task orders of the special emptying points are processed preferentially, and the task orders of the special emptying points are combined and processed, so that the practicability of the mobile robot in the carrying process is improved, and the technical problem that the practicability of the existing mobile robot in the carrying process is low is solved.
Drawings
Fig. 1 is a schematic hardware structure diagram of a task order merging device according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a task order consolidation method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a binding between a mobile robot slot and a machine emptying point in the task order merging method according to the present invention;
FIG. 4 is a flowchart illustrating a task order consolidation method according to a second embodiment of the present invention;
FIG. 5 is a functional block diagram of a task order consolidation apparatus according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The task order combination method is mainly applied to task order combination equipment which can be equipment with display and processing functions such as a PC (personal computer), a portable computer, a mobile terminal and the like.
Referring to fig. 1, fig. 1 is a schematic hardware structure diagram of a task order consolidation device according to an embodiment of the present invention. In this embodiment of the present invention, the task order combining device may include a processor 1001 (e.g., a CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface); the memory 1005 may be a high-speed RAM memory, or may be a non-volatile memory (e.g., a magnetic disk memory), and optionally, the memory 1005 may be a storage device independent of the processor 1001.
Those skilled in the art will appreciate that the hardware configuration shown in FIG. 1 does not constitute a limitation of the consolidated facility for a task order, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to FIG. 1, the memory 1005 of FIG. 1, which is one type of computer-readable storage medium, may include an operating system, a network communication module, and a merge program of task orders.
In fig. 1, the network communication module is mainly used for connecting to a server and performing data communication with the server; the processor 1001 may call a merge program of task orders stored in the memory 1005, and execute the method for merging task orders according to the embodiment of the present invention.
The embodiment of the invention provides a task order combination method.
Referring to fig. 2, fig. 2 is a flowchart illustrating a task order merging method according to a first embodiment of the present invention.
In this embodiment, the method for merging task orders includes the following steps:
step S10, generating a first task queue of the task order based on the receiving time of receiving the task order, and inquiring whether the first task queue contains the task order containing a special machine emptying point or not;
in this embodiment, the first task queue is generated according to the receiving time of the mobile robot for receiving the task order in the sequence.
The mobile robot has strong computing power, and can sense the surrounding environment through the sensor and make corresponding decisions. The mobile robot can use data from cameras, built-in sensors, laser scanners, and complex software to detect the surrounding environment and select the most efficient way to reach the destination.
It can be operated completely autonomously and if a forklift, pallet, personnel or other obstacle is in front it can all use the best alternative route to achieve safe detour. In this way, it is ensured that the material conveying wave is kept in progress, thereby optimizing productivity.
And setting high priority for the emptying points of the special machine. Fig. 3 is a schematic diagram of binding between a mobile robot bin and a machine station discharge point. The machine stations No. 1-3 shown in FIG. 3 are in special cases. When the loading tasks of other machines and the loading tasks of special machines occur simultaneously, tasks are allocated to the discharging points of the machines 1-3 in advance.
And setting the priority of the machine in the background system to distinguish the special machine from the common machine.
Step S20, if the first task queue has the task order containing the special machine discharging point, adjusting the task order containing the special machine discharging point to the front row of the first task queue based on the priority of the preset machine discharging point;
specifically, whether a special machine exists in the task queue is searched. If the special machine exists, the task queue is adjusted, and the tasks containing the special machine in the first task queue are arranged to the top. If there is no special machine, the first task queue is kept unchanged.
When at least two special machines exist in the task queue, the tasks including the special machines are arranged to the top preferentially, and the tasks including the special machines are sequenced according to the time sequence of order receiving.
Step S30, when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue;
in this embodiment, the vacant slots of the mobile robot in the task queue are queried. And if the number of the free bin of the mobile robot is more than or equal to the number of the tasks of the discharging points of the special machines, distributing the discharging tasks of all the special machines to the bin of the mobile robot.
It can be understood that, by setting the priority, the priority of the emptying point of the special machine is set to be higher than that of the emptying point of the ordinary machine, and all the service orders are generated into the first task queue according to the first-in first-out principle. And screening the services in the first task queue, preferentially processing the tasks of the discharging points of the special machines in the first task queue according to the priority with higher priority, regenerating the screened service order queue into a second task queue, and finally generating according to the second task queue, so that the task orders are combined, and the generation efficiency of the mobile robot is improved.
The embodiment provides a method for merging task orders, which comprises the steps of generating a first task queue of the task orders based on the receiving time of receiving the task orders, and inquiring whether the first task queue contains the task orders including a special machine emptying point or not; if the first task queue has the task order containing the special machine discharging point, adjusting the task order containing the special machine discharging point to the front row of the first task queue based on the priority of the preset machine discharging point; and when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue. Through the mode, the priority of the special emptying points is higher than that of the common emptying points, and when the number of the spare box positions of the mobile robot is not less than that of the special emptying points, the task orders of the special emptying points are processed preferentially, and the task orders of the special emptying points are combined and processed, so that the practicability of the mobile robot in the carrying process is improved, and the technical problem that the practicability of the existing mobile robot in the carrying process is low is solved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a task order merging method according to a second embodiment of the present invention.
Based on the foregoing embodiment shown in fig. 2, in this embodiment, after the step S20, the method further includes:
and S21, when the number of the vacant slots of the mobile robot is smaller than the number of the special machine station emptying points, distributing the same number of task orders containing the special machine station emptying points to the mobile robot according to the number of the vacant slots of the mobile robot, and generating a second task queue.
In this embodiment, when the number of the vacant slots of the mobile robot is smaller than the number of the special machine emptying points, the task orders of the special machine emptying points are merged into the mobile robot according to the number of the vacant slots of the mobile robot, and the vacant slots of the mobile robot are filled, so that the situation that the high-priority special machine emptying points cannot be processed preferentially is avoided, the overall progress is delayed, and the production efficiency is reduced.
In a specific embodiment, based on the embodiment shown in fig. 4, before step S21, the method further includes:
and emptying the task orders distributed to the second task sequence in the first task sequence before the second task sequence is executed.
In this embodiment, in the second task sequence, there may be a part of the service orders existing in the first task sequence, so as to avoid that the same service order is executed for multiple times, and reduce the production efficiency, therefore before the second task sequence starts to be executed, the existing service orders in the original first task sequence are removed, so as to avoid performing repeated operations on the same service order, and improve the production efficiency.
The embodiment provides a method for merging task orders, which comprises the steps of distributing the same number of task orders containing emptying points of a special machine station to a mobile robot according to the number of the empty slots of the mobile robot when the number of the empty slots of the mobile robot is smaller than the number of the emptying points of the special machine station, and generating a second task queue; and emptying the task orders distributed to the second task sequence in the first task sequence before the second task sequence is executed. Through the mode, the priority of the special emptying points is set to be higher than that of the common emptying points, when the number of the spare box positions of the mobile robot is smaller than that of the special emptying points, the task orders containing the special emptying points are all distributed to the spare box positions of the mobile robot according to the number of the spare box positions, and the repeated task orders of the first task sequence and the second task sequence are removed in the second task queue, so that the practicability of the mobile robot in the carrying process is improved, and the technical problem of low practicability of the mobile robot in the carrying process at present is solved.
Based on the foregoing embodiment shown in fig. 2, in this embodiment, after the step S30, the method further includes:
and after the special machine station emptying points are distributed to the vacant slots of the mobile robot, distributing the task orders containing the common machine station emptying points to the vacant slots of the mobile robot, wherein the machine station emptying points comprise the common machine station emptying points and the special machine station emptying points.
In this embodiment, since the priority of the emptying point of the special machine is higher than that of the emptying point of the ordinary machine, the service order of the emptying point of the special machine needs to be allocated preferentially according to the priority when the service order is allocated. And after the special machine stations distribute the box positions of the mobile robots, distributing the spare box positions of the mobile robots according to the number of tasks of the common machine stations. And generating a second task execution queue after the bin allocation is finished.
The embodiment provides a method for merging task orders, which comprises the steps of generating a first task queue of the task orders based on the receiving time of receiving the task orders, and inquiring whether the first task queue contains the task orders including a special machine emptying point or not; if the first task queue has the task order containing the special machine emptying point, the task order containing the special machine emptying point is adjusted to the front row of the first task queue based on the priority of the preset machine emptying point; when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue; and after the special machine station emptying points are distributed to the vacant slots of the mobile robot, distributing the task orders containing the common machine station emptying points to the vacant slots of the mobile robot, wherein the machine station emptying points comprise the common machine station emptying points and the special machine station emptying points. Through the mode, the priority of the special discharging points is set to be higher than that of the common discharging points, when the number of the spare box positions of the mobile robot is not smaller than that of the special discharging points, the task orders of the special discharging points are processed preferentially, the common machine is distributed to spare fragrance on the premise that the spare box positions exist, the practicability of the mobile robot in the carrying process is improved, and the technical problem that the practicability of the mobile robot in the carrying process is low at present is solved.
Based on the foregoing embodiment shown in fig. 2, in this embodiment, before the step S10, the method further includes:
and binding the box position of the mobile robot with the machine station emptying point, numbering the box position of the mobile robot, and generating a task queue according to the numbering sequence.
In this embodiment, the bin number of the mobile robot is bound to the discharge point of the machine, as shown in fig. 3, the discharge points # 1-3 of the machine can only be bound to the bins # 1-4 of the mobile robot.
In the specific embodiment, the machine discharging points and the mobile robot box positions are manually bound one by one in the system, so that the low-priority machine discharging point task is prevented from occupying the special box positions of the mobile robot.
Further, step S10 is preceded by:
and setting the priority of the discharging points of the special machine table to be higher than the priority of the discharging points of the common machine table.
In this embodiment, received tasks are queued according to time task receiving time, a task with an early trigger time is in front of a task with a later trigger time, and a level-1 task queue is generated by adopting a first-in first-out principle.
And further, binding a box position on one side of the mobile robot, which is far away from the special machine table, with a discharge point of the special machine table. Due to the fact that the mobile robot is close to the special machine table, the technical scheme is adopted, and rubbing between the mobile robot and the special machine table during operation of the mechanical arm of the mobile robot can be avoided.
Based on all the above embodiments, the present embodiment further includes:
and acquiring task information of the task order, wherein the task information comprises a task starting point, a task ending point and the number of the mobile robot.
In this embodiment, a task issued by the task management system is received, and each piece of received task content includes a task starting point (which rack), a task ending point (which discharging point of which machine), and a mobile robot number.
The embodiment provides a method for merging task orders, which sets the priority of the emptying point of the special machine to be higher than that of the emptying point of the ordinary machine; generating a first task queue of the task orders based on the receiving time of receiving the task orders, and inquiring whether the first task queue contains the task orders of the special machine emptying points or not; if the first task queue has the task order containing the special machine emptying point, the task order containing the special machine emptying point is adjusted to the front row of the first task queue based on the priority of the preset machine emptying point; and when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue. Through the mode, the priority of the special emptying points is set to be higher than that of the common emptying points, and when the number of the spare box positions of the mobile robot is not smaller than that of the special emptying points, the task orders of the special emptying points are processed preferentially and combined, so that the practicability of the mobile robot in the carrying process is improved, and the technical problem of low practicability of the mobile robot in the carrying process at present is solved.
In addition, the embodiment of the invention also provides a merging device of the task orders.
Referring to fig. 5, fig. 5 is a functional block diagram of a task order consolidation apparatus according to a first embodiment of the present invention.
In this embodiment, the merging apparatus includes:
the priority setting module 10 is configured to generate a first task queue of task orders based on receiving time of receiving the task orders, and query whether a task order including a special machine emptying point exists in the first task queue;
a task order adjusting module 20, configured to adjust a task order including the special machine emptying point to the front of the first task queue based on a priority of a preset machine emptying point if the first task queue includes a task order including the special machine emptying point;
and the task order combining module 30 is configured to, when the number of the vacant slots of the mobile robot is not less than the number of the special machine emptying points, allocate all task orders including the special machine emptying points to the mobile robot, and generate a second task queue.
Further, the priority setting module 10 specifically includes:
the first priority setting unit is used for generating a first task queue of the task orders based on the receiving time of the received task orders and inquiring whether the first task queue contains the task orders of the special machine emptying points or not.
Further, the task order adjusting module 20 specifically includes:
and the task order adjusting unit is used for adjusting the task orders containing the special machine discharging points to the front row of the first task queue based on the priority of the preset machine discharging points if the task orders containing the special machine discharging points exist in the first task queue.
Further, the task order merging module 30 specifically includes:
and the task order combining unit is used for distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue when the number of the spare slots of the mobile robot is not less than the number of the special machine station emptying points.
Further, the merging device includes a second task queue generating module, where the second task queue generating module includes:
and the second task queue generating unit is used for distributing the same number of task orders containing the special machine station emptying points to the mobile robot according to the number of the spare boxes of the mobile robot and generating a second task queue when the number of the spare boxes of the mobile robot is smaller than the number of the special machine station emptying points.
Further, the merging device includes a task order clearing module, and the task order clearing module includes:
and the task order clearing unit is used for clearing the task orders which are distributed to the second task sequence in the first task sequence before the second task sequence is executed.
Further, the merging device includes a secondary distribution module, which includes:
and the secondary distribution unit is used for distributing the task orders containing the ordinary machine station emptying points to the vacant slots of the mobile robot after distributing the special machine station emptying points to the vacant slots of the mobile robot, wherein the machine station emptying points comprise the ordinary machine station emptying points and the special machine station emptying points.
Further, the merging device includes a task queue generating module, and the task queue generating module includes:
and the task queue generating unit is used for binding the box position of the mobile robot with the machine station emptying point, numbering the box position of the mobile robot and generating a task queue according to the numbering sequence.
Further, the merging device includes a task information obtaining module, and the task information obtaining module includes:
and the task information acquisition unit is used for acquiring task information of the task order, wherein the task information comprises a task starting point, a task end point and the serial number of the mobile robot.
Further, the priority setting module 10 further includes:
and the second priority setting unit is used for setting the priority of the discharging point of the special machine to be higher than the priority of the discharging point of the common machine.
Each module in the merging device corresponds to each step in the embodiment of the merging method for task orders, and the functions and implementation processes thereof are not described in detail herein.
In addition, the embodiment of the invention also provides a computer readable storage medium.
The computer readable storage medium of the present invention stores a task order combination program, wherein the combination program, when executed by a processor, implements the steps of the task order combination method as described above.
The method for implementing the task order combination program when executed may refer to the embodiments of the task order combination method of the present invention, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
The application is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A task order merging method is characterized by comprising the following steps:
generating a first task queue of the task orders based on the receiving time of receiving the task orders, and inquiring whether the first task queue contains the task orders of special machine discharging points or not;
if the first task queue has the task order containing the special machine emptying point, the task order containing the special machine emptying point is adjusted to the front row of the first task queue based on the priority of the preset machine emptying point;
and when the number of the vacant slots of the mobile robot is not less than the number of the special machine station emptying points, distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue.
2. The method as claimed in claim 1, wherein if there is a task order including the special machine dump point in the first task queue, adjusting the task order including the special machine dump point to the front of the first task queue based on a priority of a preset machine dump point, further comprising:
and when the number of the vacant slots of the mobile robot is smaller than that of the special machine station emptying points, distributing the same number of task orders containing the special machine station emptying points to the mobile robot according to the number of the vacant slots of the mobile robot, and generating a second task queue.
3. The method according to claim 2, wherein before allocating the same number of task orders including the emptying points of the special machines to the mobile robot according to the number of the emptying slots of the mobile robot and generating the second task queue, the method includes:
and emptying the task orders distributed to the second task sequence in the first task sequence before the second task sequence is executed.
4. The method according to claim 1, wherein when the number of empty slots of the mobile robot is not less than the number of the stock dump for the special machine, the method further comprises, after allocating all the task orders including the stock dump for the special machine to the mobile robot and generating a second task queue:
and after the special machine station emptying points are distributed to the vacant slots of the mobile robot, distributing the task orders containing the common machine station emptying points to the vacant slots of the mobile robot, wherein the machine station emptying points comprise the common machine station emptying points and the special machine station emptying points.
5. The method according to claim 1, wherein the step of generating a first task queue of the task orders based on the receiving time of the received task orders, and before querying whether a task order including a special machine emptying point exists in the first task queue comprises:
and binding the box space of the mobile robot with the machine station emptying point, numbering the box space of the mobile robot, and generating a task queue according to the numbering sequence.
6. The method according to claim 1, wherein the step of generating a first task queue of the task orders based on the receiving time of the received task orders, and before querying whether a task order including a special machine emptying point exists in the first task queue comprises:
and setting the priority of the discharging points of the special machine table to be higher than the priority of the discharging points of the common machine table.
7. The method according to any of claims 1-6, wherein the step of generating a first task queue of task orders based on the receiving time of the received task orders, and after querying whether a task order including a special machine emptying point exists in the first task queue, further comprises:
and acquiring task information of the task order, wherein the task information comprises a task starting point, a task end point and the serial number of the mobile robot.
8. A consolidation apparatus for task orders, the consolidation apparatus comprising:
the priority setting module is used for generating a first task queue of the task order based on the receiving time of receiving the task order and inquiring whether the first task queue contains the task order containing the emptying point of the special machine;
a task order adjusting module, configured to adjust a task order including the special machine emptying point to the front of the first task queue based on a priority of a preset machine emptying point if the first task queue includes a task order including the special machine emptying point;
and the task order combining module is used for distributing all task orders containing the special machine station emptying points to the mobile robot to generate a second task queue when the number of the spare slots of the mobile robot is not less than the number of the special machine station emptying points.
9. A task order consolidation apparatus comprising a processor, a memory, and a task order consolidation program stored on the memory and executable by the processor, wherein the task order consolidation program, when executed by the processor, implements the steps of the task order consolidation method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a consolidation program of the task orders, wherein the consolidation program of the task orders, when executed by a processor, implements the steps of the consolidation method of the task orders according to any of claims 1 to 7.
CN202211058161.7A 2022-08-30 2022-08-30 Task order combination method, device, equipment and storage medium Pending CN115564178A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI835530B (en) * 2023-01-18 2024-03-11 力晶積成電子製造股份有限公司 Adjust system of transfering device and adjusting method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI835530B (en) * 2023-01-18 2024-03-11 力晶積成電子製造股份有限公司 Adjust system of transfering device and adjusting method thereof

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