Cooking equipment scheduling method, device, equipment and storage medium

文档序号：1927577 发布日期：2021-12-07 浏览：21次中文

阅读说明：本技术 烹饪设备调度方法、装置、设备以及存储介质 (Cooking equipment scheduling method, device, equipment and storage medium ) 是由刘庆华殷伟王帅超于 2020-06-12 设计创作，主要内容包括：本申请提供一种烹饪设备调度方法、装置、设备以及存储介质,获取烹饪任务的任务参数和备选烹饪设备的设备参数,根据任务参数和设备参数确定执行烹饪任务的实际烹饪设备,以使实际烹饪设备执行烹饪任务的任务时间成本最小,进而提高烹饪任务的执行效率。(The application provides a cooking equipment scheduling method, a cooking equipment scheduling device, a cooking equipment scheduling equipment and a storage medium, wherein task parameters of a cooking task and equipment parameters of alternative cooking equipment are obtained, and actual cooking equipment for executing the cooking task is determined according to the task parameters and the equipment parameters, so that the task time cost for the actual cooking equipment to execute the cooking task is minimum, and the execution efficiency of the cooking task is improved.)

1. A cooking apparatus scheduling method, comprising:

acquiring task parameters of a cooking task and equipment parameters of alternative cooking equipment;

according to the task parameters and the equipment parameters, determining actual cooking equipment for executing the cooking task when cooking conditions are met;

wherein the cooking conditions include: the actual cooking device has the least cost in task time to perform the cooking task.

2. The method of claim 1, wherein the task parameters comprise: task process, the equipment parameters include: process time cost;

according to the task parameters and the equipment parameters, determining actual cooking equipment for executing the cooking task when cooking conditions are met, and specifically comprising the following steps:

and determining actual cooking equipment for executing the cooking task when cooking conditions are met according to the task process and the process time cost.

3. The method according to claim 2, wherein determining, from the alternative cooking devices and the process time cost, an actual cooking device required to perform the cooking task when a cooking condition is satisfied, specifically comprises:

constructing a flow selection variable for representing the flow of the food material to the next alternative cooking device via the current alternative cooking device;

generating a cost function for representing the task time cost according to a circulation selection variable and the procedure time cost;

constructing a constraint condition of the circulation selection variable;

and determining the actual cooking equipment according to the cost function and the constraint condition.

4. The method according to claim 3, wherein constructing constraints for the selection variables specifically comprises:

constructing that the circulation selection variable meets a first constraint for representing the total circulation times of the food materials;

constructing a second constraint that the circulation selection variable meets the requirement of a food material to circulate only once on each task process;

and constructing the circulation selection variable to meet a third constraint for representing that the outflow equipment of the food material in the last task procedure is the same as the inflow equipment of the next task procedure.

5. The method according to claim 4, wherein determining the actual cooking device based on the cost function and the constraints comprises:

constructing a directed acyclic graph of the cooking task according to the cost function and the constraint condition;

and determining the actual cooking equipment according to the directed acyclic graph.

6. The method according to claim 5, wherein constructing a directed acyclic graph of cooking tasks according to the cost function and the constraints comprises:

determining a device node for representing alternative cooking devices and a connection path between the two device nodes according to the constraint condition;

and determining the connection path distance of the connection path according to the cost function.

7. The method according to claim 6, wherein determining the actual cooking device from the directed acyclic graph specifically comprises:

repeating the steps of determining the intermediate path distance of the intermediate path between the starting equipment node and the next equipment node according to the intermediate path distance of the intermediate path between the current equipment node and the starting equipment node and the connection path distance, and selecting the next equipment node corresponding to the shortest distance from the intermediate path distances as the current equipment node until the current equipment node is the terminating equipment node;

and corresponding to the intermediate path according to the shortest distance in the intermediate path distances from the starting equipment node to the ending equipment node.

8. The method according to claim 7, wherein determining the actual cooking device according to a shortest path distance of the intermediate path distances comprises:

taking the intermediate path corresponding to the shortest distance in the intermediate path distances as an actual path;

and taking the equipment node passed by the actual path as an actual cooking equipment.

9. The method according to any one of claims 2 to 8, wherein the alternative cooking device comprises: an inlet conveyor belt, a mechanical arm, a frying pan and an outlet conveyor belt.

10. The method of claim 9, wherein the task process comprises: the method comprises a process of conveying at least one food material from the inlet conveyor to the manipulator, a process of delivering at least one food material from the manipulator to the wok, a process of cooking by using the wok as an initial cooking device, and a process of conveying a finished product from the wok to the outlet conveyor.

11. The method according to any one of claims 4 to 8, wherein the cost function specifically comprises:

wherein, c_i,j,kSelecting variables for circulation to indicate that the circulation is from the jth alternative cooking equipment to the kth alternative cooking equipment in the ith task procedure, wherein i represents the serial number of the task procedure, i is more than or equal to 1 and less than or equal to N, j and k both represent the serial numbers of the alternative cooking equipment, j is more than or equal to 1 and less than or equal to M, k is more than or equal to 1 and less than or equal to L, acv_i,j,kRepresenting process time costs.

12. The method according to claim 11, wherein the constraints specifically include:

where s, t denotes the numbers of two adjacent task processes, u denotes the number of the candidate cooking device, and W denotes the set of numbers of the adjacent task processes in the cooking task.

13. A cooking device scheduling apparatus, comprising:

the acquisition module is used for acquiring task parameters of the cooking task and equipment parameters of the alternative cooking equipment;

the determining module is used for determining actual cooking equipment for executing the cooking task when the cooking condition is met according to the task parameter and the equipment parameter;

wherein the cooking conditions include: the actual cooking device has the least cost in task time to perform the cooking task.

14. A scheduling apparatus, comprising:

a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the cooking apparatus scheduling method of any one of claims 1 to 12.

15. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the cooking appliance scheduling method of any one of claims 1 to 12.

Technical Field

The present application relates to the field of automation technologies, and in particular, to a cooking device scheduling method, apparatus, device, and storage medium.

Background

The process of cooking dishes usually comprises the steps of feeding, frying, discharging and the like, and the automatic cooking system realizes the steps by using cooking equipment.

Common cooking equipment includes conveyor belts, manipulators, woks, and the like. The conveyor belt is used for conveying the food materials from the food material rack to the manipulator, the manipulator delivers the food materials to the frying pan, the frying pan fries the food materials, and the fried food materials are conveyed to the dish outlet through the conveyor belt after being fried. Generally, each link is provided with a plurality of cooking devices to perform a plurality of cooking tasks at the same time. When there are multiple cooking devices per link, for example: there are multiple woks or multiple manipulators, and it is necessary to determine which cooking device is to perform a cooking task.

However, there is no solution in the prior art as to how to schedule cooking appliances.

Disclosure of Invention

The application provides a cooking equipment scheduling method, a cooking equipment scheduling device, equipment and a storage medium, and aims to provide a scheduling scheme of the cooking equipment so as to improve the execution efficiency of cooking tasks.

In a first aspect, the present application provides a cooking apparatus scheduling method, including: acquiring task parameters of a cooking task and equipment parameters of alternative cooking equipment; determining actual cooking equipment for executing a cooking task when the cooking condition is met according to the task parameter and the equipment parameter; wherein the cooking conditions include: the actual cooking appliance has the least cost in task time to perform the cooking task.

Optionally, the task parameters include: and (3) task procedures, wherein the equipment parameters comprise: process time cost; according to the task parameters and the equipment parameters, determining actual cooking equipment for executing the cooking task when the cooking conditions are met, and specifically comprising the following steps: the actual cooking equipment used to perform the cooking task when the cooking conditions are met is determined based on the task process and the process time cost.

Optionally, determining an actual cooking device required for performing a cooking task when the cooking condition is satisfied according to the alternative cooking device and the process time cost, specifically including: constructing a flow selection variable for representing the flow of the food material to the next alternative cooking device via the current alternative cooking device; generating a cost function for representing task time cost according to the circulation selection variable and the process time cost; constructing constraint conditions of circulation selection variables; and determining the actual cooking equipment according to the cost function and the constraint condition.

Optionally, constructing a constraint condition of the selection variable specifically includes: constructing a flow selection variable to meet a first constraint for representing the total flow times of the food materials; constructing a circulation selection variable to meet a second constraint for representing that the food material only circulates once on each task process; the construction flow selection variable satisfies a third constraint indicating that the outflow device of the food material in the previous task process is the same as the inflow device of the next task process.

One embodiment of the above invention has the following beneficial effects: and constructing a cost function and a constraint condition of the circulation selection variable, and selecting the actual cooking equipment from the alternative cooking equipment by solving the cost function and the constraint condition so as to minimize the task time cost of the actual cooking equipment for executing the cooking task and improve the execution efficiency of the cooking task.

Optionally, determining an actual cooking device according to the cost function and the constraint condition specifically includes: constructing a directed acyclic graph of the cooking task according to the cost function and the constraint condition; and determining the actual cooking equipment according to the directed acyclic graph.

Optionally, constructing a directed acyclic graph of the cooking task according to the cost function and the constraint condition, specifically including: determining a device node for representing alternative cooking devices and a connection path between the two device nodes according to the constraint conditions; and determining the connection path distance of the connection path according to the cost function.

Optionally, determining an actual cooking device according to the directed acyclic graph specifically includes: repeating the steps of determining the intermediate path distance of the intermediate path between the starting equipment node and the next equipment node according to the intermediate path distance and the connection path distance of the intermediate path between the current equipment node and the starting equipment node, and selecting the next equipment node corresponding to the shortest distance from the intermediate path distance as the current equipment node until the current equipment node is the termination equipment node; and corresponding to the intermediate path according to the shortest distance in the intermediate path distances from the starting equipment node to the ending equipment node.

Optionally, determining the actual cooking device according to the shortest path distance among the intermediate path distances specifically includes: taking the intermediate path corresponding to the shortest distance in the intermediate path distances as an actual path; and taking the equipment node passed by the actual path as an actual cooking equipment.

One embodiment of the above invention has the following beneficial effects: and constructing a cost function and a constraint condition of the circulation selection variable, solving the cost function and the constraint condition according to the shortest path in the directed acyclic graph, and selecting the actual cooking equipment from the alternative cooking equipment so as to minimize the task time cost of the actual cooking equipment for executing the cooking task and improve the execution efficiency of the cooking task.

Optionally, the alternative cooking apparatus comprises: an inlet conveyor belt, a mechanical arm, a frying pan and an outlet conveyor belt.

Optionally, the task process includes: the method comprises at least one food material transmission process from an inlet conveyor belt to a mechanical arm, at least one food material delivery process from the mechanical arm to a frying pan, a cooking process of which the initial cooking devices are frying pans and a finished product transmission process from the frying pan to an outlet conveyor belt.

Optionally, the cost function specifically includes:

Optionally, the constraint specifically includes:

In a second aspect, the present application provides a cooking apparatus scheduling apparatus, comprising:

the acquisition module is used for acquiring task parameters of the cooking task and equipment parameters of the alternative cooking equipment;

the determining module is used for determining actual cooking equipment for executing the cooking task when the cooking condition is met according to the task parameter and the equipment parameter;

wherein the cooking conditions include: the actual cooking appliance has the least cost in task time to perform the cooking task.

In a third aspect, the present application provides a scheduling apparatus, including:

a memory, a processor;

a memory; a memory for storing processor-executable instructions;

wherein the processor is configured to perform the cooking appliance scheduling method according to the first aspect and the alternative.

In a fourth aspect, the present application provides a computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the cooking appliance scheduling method according to the first aspect and the alternative.

The application provides a cooking equipment scheduling method, a cooking equipment scheduling device, a cooking equipment scheduling equipment and a storage medium, wherein task parameters of a cooking task and equipment parameters of alternative cooking equipment are obtained, and actual cooking equipment for executing the cooking task is determined according to the task parameters and the equipment parameters, so that the task time cost of the actual cooking equipment for executing the cooking task is minimized, and the execution efficiency of the cooking task is improved.

Drawings

Fig. 1 is a schematic perspective view of an automated cooking system provided herein;

fig. 2 is a schematic flowchart of a cooking apparatus scheduling method according to an embodiment of the present application;

fig. 3 is a schematic diagram of a cooking device scheduling model according to a second embodiment of the present application;

fig. 4 is a schematic diagram of solving a cooking device scheduling model according to a second embodiment of the present application;

fig. 5 is a schematic diagram of a directed graph provided in the third embodiment of the present application;

fig. 6 is a schematic structural diagram of a scheduling apparatus of a cooking device according to a fourth embodiment of the present application;

fig. 7 is a schematic structural diagram of a scheduling device according to a fourth embodiment of the present application.

Detailed Description

To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

With the development of automation technology and the increase of labor cost, unmanned kitchen is produced. The automatic cooking system of the common equipment in the unmanned kitchen realizes the dish cooking process. As shown in fig. 1, a conventional automatic cooking system includes an entrance conveyor 101, a robot arm 102, a wok 103, an exit conveyor 104, and the like. The inlet conveyor 101 is used for conveying food materials from the food material rack to the manipulator 102, the manipulator 102 delivers the food materials to the wok 103, the wok 103 fries the food materials, and the fried food materials are conveyed to the dish outlet through the outlet conveyor 104 after being fried. Generally, each link is provided with a plurality of cooking devices to perform a plurality of cooking tasks at the same time. When there are multiple cooking devices per link, for example: there are multiple woks or multiple manipulators, and it is necessary to determine which cooking device is to perform a cooking task.

The application provides a cooking equipment scheduling method, a cooking equipment scheduling device, cooking equipment and a storage medium, and aims to achieve cooking equipment scheduling. The invention concept of the application is as follows: and constructing a cost function and a constraint condition of a flow selection variable according to cooking parameters of the alternative cooking equipment and task parameters of the cooking task, solving the cost function and the constraint condition based on the shortest path in the directed acyclic graph, and selecting the actual cooking equipment from the alternative cooking equipment so as to minimize the task time cost of the actual cooking equipment for executing the cooking task.

Fig. 2 is a schematic flowchart of a cooking apparatus scheduling method according to an embodiment of the present disclosure, and as shown in fig. 2, the cooking apparatus scheduling method according to the embodiment of the present disclosure includes the following steps:

s201, acquiring task parameters of a cooking task and device parameters of alternative cooking devices.

Wherein the equipment parameters of the alternative cooking equipment include process time costs. The process time cost refers to the process time cost of moving from the current cooking device to the next cooking device. The task parameters of the cooking task comprise task procedures, and the task procedures refer to the process of transferring from the current cooking equipment to the next cooking equipment. The current cooking equipment and the next cooking equipment can be the same cooking equipment or different cooking equipment. The task process executes the presentation processing process on the same cooking device, and the task process executes the presentation circulation process on different cooking devices.

Alternative cooking devices generally include: an inlet conveyor belt, a mechanical arm, a frying pan and an outlet conveyor belt. The cooking task comprises a food material transmission process from an inlet conveyor belt to a mechanical arm, a food material delivery process from the mechanical arm to a frying pan, a cooking process of which the initial cooking devices are frying pans and a finished product transmission process from the frying pan to an outlet conveyor belt.

S202, according to the task parameters and the equipment parameters, determining actual cooking equipment for executing the cooking task when the cooking conditions are met.

Wherein the cooking conditions include: the actual cooking appliance has the least cost in task time to perform the cooking task. And determining the actual cooking equipment from the alternative cooking equipment according to the task parameters and the equipment parameters so as to minimize the task time cost of the actual cooking equipment for executing the cooking task.

According to the cooking equipment scheduling method provided by the embodiment of the application, the actual cooking equipment for executing the cooking task is determined according to the task parameters and the equipment parameters, so that the task time cost for the actual cooking equipment to execute the cooking task is minimized, and the execution efficiency of the cooking task is improved.

A cooking apparatus scheduling method provided in the second embodiment of the present application is described below, and the cooking apparatus scheduling method provided in the second embodiment of the present application includes the following steps:

s301, acquiring task parameters of the cooking task and device parameters of the alternative cooking devices.

Here, this step has already been described in detail in S201, and repeated parts are not described again.

S302, according to the task parameters and the equipment parameters, determining actual cooking equipment for executing the cooking task when the cooking conditions are met.

The equipment parameters comprise procedure time cost, and the task parameters comprise task procedures. The actual cooking equipment used to perform the cooking task when the cooking conditions are met is determined based on the task process and the process time cost.

As a preferred embodiment, as shown in fig. 3, determining the actual cooking equipment required to perform the cooking task when the cooking condition is satisfied according to the task process and the process time cost specifically includes: and constructing a cooking equipment scheduling model. First, a flow selection variable is constructed, wherein the flow selection variable indicates that the food material flows to the next alternative cooking device via the current alternative cooking device. Then, a cost function is constructed from the flow selection variables and the process time cost. Wherein the cost function is used to represent the task time cost. And finally, constructing a constraint condition of the circulation selection variable. After the cost function and the constraint condition are constructed, the cost function and the constraint condition are solved, and the actual cooking equipment is determined.

As a preferred embodiment, the construction of the constraints of the selection variables specifically includes: the construction flow selection variable satisfies a first constraint for representing the total number of times of flow of the food material. The first constraint is that the sum of all the circulation selection variables is equal to the total circulation times of the food materials. The build circulation selection variable satisfies a second constraint for representing that the food material circulates only once per task process. Wherein the second constraint is specifically that the sum of all the flow selection variables on the same process is equal to 1. The construction flow selection variable satisfies a third constraint indicating that the outflow device of the food material in the previous task process is the same as the inflow device of the next task process. The third constraint is that for two adjacent task processes, the next alternative cooking device in the flow selection variable of the previous task process is the same as the current alternative cooking device in the flow selection variable of the next task process.

As a preferred embodiment, as shown in fig. 4, the determining the actual cooking device according to the cost function and the constraint condition specifically includes: a directed acyclic graph of the cooking task is constructed according to the cost function and the constraint condition. And determining the actual cooking equipment according to the directed acyclic graph. Wherein the directed acyclic graph is an ordered triplet { V (D), A (D),wherein V (D) and A (D) represent two nodes,represents the path from node v (d) to node a (d).

As a preferred embodiment, constructing a directed acyclic graph of a cooking task according to a cost function and constraints specifically includes: and determining a device node for representing the alternative cooking device and a connection path between the two device nodes according to the constraint condition. The connection path distance of the connection path is determined from the cost function. The equipment nodes are specifically determined as equipment nodes v (d) and equipment nodes a (d) which respectively use the current cooking equipment and the next cooking equipment in the flow selection variable as the alternative cooking equipment, and the flow selection variable indicates that a path from the equipment node of the current cooking equipment to the equipment node of the next cooking equipment is selected. And determining paths among the equipment nodes according to the second constraint and the third constraint.

As a preferred embodiment, determining the actual cooking device according to the directed acyclic graph specifically includes: the shortest path from the starting device node to the destination device node is determined from the directed acyclic graph. And determining the intermediate path distance of the intermediate path between the starting equipment node and the next equipment node according to the intermediate path distance and the connection path distance of the intermediate path between the current equipment node and the starting equipment node.

When the intermediate path distance of the intermediate path between the starting equipment node and the next equipment node is determined, the equipment node with the connection path between the current equipment node and the starting equipment node is determined, and the intermediate path distance between the starting equipment node and the next equipment node is determined according to the intermediate path distance between the current equipment node and the starting equipment node and the connection path distance between the current equipment node and the next equipment node.

After the intermediate path distance of the intermediate path between the starting equipment node and the next equipment node is determined, the next equipment node corresponding to the shortest distance is selected from the intermediate path distances to serve as the current equipment node, and then the intermediate path distance of the intermediate path between the starting equipment node and the next equipment node is determined repeatedly according to the intermediate path distance and the connection path distance of the intermediate path between the current equipment node and the starting equipment node until the current equipment node is the termination equipment node.

After the intermediate path distance of the intermediate path between the starting equipment node and the terminating equipment node is determined, the actual cooking equipment is determined according to the intermediate path corresponding to the shortest distance in the intermediate path distance between the starting equipment node and the terminating equipment node.

As a preferred embodiment, determining the actual cooking device according to the intermediate path corresponding to the shortest distance in the intermediate path distances between the starting device node and the terminating device node specifically includes: and taking the intermediate path corresponding to the shortest distance in the intermediate path distances as an actual path, and taking the equipment node passed by the actual path as actual cooking equipment.

In the cooking equipment scheduling method provided by the second embodiment of the application, a cost function and a constraint condition of a flow selection variable are constructed, the cost function and the constraint condition are solved according to the shortest path in the directed acyclic graph, and an actual cooking equipment is selected from alternative cooking equipment, so that the task time cost of the actual cooking equipment for executing a cooking task is minimized, and the execution efficiency of the cooking task is improved.

The flow diagram of the cooking device scheduling method provided by the third embodiment of the present application is described below by taking an example that the cooking device executes a cooking task, and the cooking device scheduling method provided by the third embodiment of the present application includes the following steps:

s401, acquiring task parameters of the stir-frying task and equipment parameters of alternative stir-frying equipment.

Wherein, alternative stir-fry equipment includes: entry conveyer belt, manipulator, frying pan and export conveyer belt, the stir-fry task can be divided into following 8 actions:

(1) taking a raw material box: after the upstream system has issued the task of cooking, the staff will place the serving pod on the entrance conveyor from the shelf.

(2) Inputting a raw material box: the raw material cassettes are transported by an entrance conveyor to the side of the robot arm.

(3) Feeding: the mechanical arm delivers the food materials in the raw material box to the frying pan according to the state of the frying pan.

(4) Frying: the frying pan begins to fry dishes.

(5) Outputting empty material boxes and taking empty trays: after the feeding is completed, the empty raw material box is withdrawn by the inlet conveying belt, and meanwhile, the empty pan is taken by the mechanical arm from the dish machine and is placed on the empty pan position of the frying pan.

(6) Taking out of the pot: after the dishes are fried, the dishes are poured into the empty pan by the frying pan.

(7) Taking the dishes: the robotic arm places dishes from an empty tray onto the exit conveyor.

(8) Carrying vegetables and washing a pot: the outlet conveyor belt conveys dishes to the outlet and the wok starts a wok washing task.

Here, only the frying equipment related to the core process is scheduled, and auxiliary processes such as taking a raw material box, outputting an empty material box, taking an empty tray, washing a pot and the like are not considered. And the dish taking out of the pot, the dish taking out and the dish transporting are combined into one action. Correspondingly, the frying task comprises a food material transmission process from the inlet conveyor belt to the mechanical arm, a food material delivery process from the mechanical arm to the frying pan, a frying process of which the initial frying equipment is a frying pan and a finished product transmission process from the frying pan to the outlet conveyor belt.

Taking the Gongbao chicken dices as an example, the food materials of the Gongbao chicken dices comprise chicken dices, peanuts, cucumbers and seasonings. The task procedures of the frying task are as follows: the chicken dices, the peanuts, the cucumbers and the seasonings are respectively conveyed to the mechanical arm by the inlet conveyor belt. The manipulator respectively conveys the diced chicken, the peanuts, the cucumbers and the seasonings to a frying pan, and the frying process of the frying pan and the finished product conveying process of the Tuopao diced chicken from the frying pan to an outlet conveyor belt.

S402, according to the task parameters and the equipment parameters, determining actual stir-frying equipment for executing a stir-frying task when the stir-frying conditions are met.

Wherein, the following stir-frying equipment scheduling model is constructed:

description of model parameters:

an action map: AM ═ AM_im|<no,t>0<i is less than or equal to n, j belongs to {0,1} }, wherein am_imThe representation of the action, i.e. the task process,<no,t>represents an action attribute, and no represents an action number; t represents an action type, i represents an action serial number, m represents a key action identifier, m-0 represents a non-key action, m-1 represents a key action, and actions of taking a raw material box, outputting an empty material box and an empty tray, taking out a pot and taking dishes are taken as non-key actions.

The action cost is as follows: AC ═ { AC_ijk|<no,t,c,s,sdn,e,edn,ex,et>0<i≤n,0<j≤m}，ac_ijkRepresents the process time cost of the ith task process from the jth alternative cooking equipment flow to the kth alternative cooking equipment,<no,t,v,s,sdn,e,edn,ex,et>the attribute represents the action cost, no represents the number of the action cost, t represents the action type, c represents the action cost, s represents the starting position of the action, sdn represents the equipment number corresponding to the starting position, e represents the ending position of the action, edn represents the equipment number corresponding to the ending position, ex represents the executor number of the action, et represents the executor type, and the executor type is divided into equipment and manual work.

And (3) frying equipment: DR ═ DR_k|<no,t,z>，0<k<r}，dr_kThe indication of the stir-frying equipment is that,<no,t,z>attributes of the stir-fry device, no denotes the device number, t denotes the deviceType, z represents the number of devices that can be occupied.

And (3) frying task: ck is < no, sku, sh, p, fn >, wherein no represents a task number; sku represents the dish code corresponding to the task, sh represents the shelf number of the dish, p represents the work order number corresponding to the dish, and fn represents the number of times of feeding.

The cost function specifically includes:

the constraint conditions specifically include:

wherein, c_i,j,kSelecting a variable for the flow, c_i,j,k1 denotes the flow from the jth alternative cooking system to the kth alternative cooking system in the ith task sequence, c_i,j,k0 represents that the flow from the jth alternative stir-frying equipment to the kth alternative stir-frying equipment is not selected in the ith task procedure, i represents the serial number of the task procedure, i is more than or equal to 1 and less than or equal to N, j and k both represent the serial numbers of the alternative stir-frying equipment, j is more than or equal to 1 and less than or equal to M, k is more than or equal to 1 and less than or equal to L, acv_i,j,kIndicating the process time cost, i.e. the process time cost for the ith task process to flow from the jth alternative cooking device to the kth alternative cooking device, s, t indicating the sequence numbers of two adjacent task processes, u indicating the sequence number of the alternative cooking device, and W indicating the set of sequence numbers of the adjacent task processes in the cooking task.

Wherein, i is 1, 2, 3 and 4 respectively represent four processes of respectively conveying the diced chicken, the peanuts, the cucumbers and the seasonings to the mechanical arm through the inlet conveyor belt. i-5, 6, 7 and 8 respectively represent four processes of conveying the diced chicken, the peanuts, the cucumbers and the seasonings to the frying pan by the manipulator. And i-9 represents a frying pan frying process, and i-10 represents a finished product conveying process of the womb chicken dices from the frying pan to an outlet conveyor belt.

When i is 1, 2, 3 or 4, the process is a circulation process, j is more than or equal to 1 and less than or equal to 4, the inlet conveying belt is represented by 4, k is more than or equal to 1 and less than or equal to 2, and the number of the mechanical arms is 2. The process is a circulation process, j is more than or equal to 1 and less than or equal to 2, the number of mechanical arms is 2, k is more than or equal to 1 and less than or equal to 4, and the number of frying pans is 4. When i is 9, the food material processing step is performed, and j and k each represent a pan. When i is 9, the finished product circulation process is realized, j is more than or equal to 1 and less than or equal to 4, 4 frying pans are shown, and k is 1 outlet conveyer belt is shown.

Wherein, the adjacent working procedures comprise s is 1 and t is 5; s is 2, t is 6; s is 3, t is 7; s is 4, t is 8; s is 5, t is 9; s is 6, t is 9; s is 7, t is 9; s is 8, t is 9; s is 9 and t is 10.

Solving the stir-frying equipment scheduling model comprises two steps of constructing a directed acyclic graph and solving the directed acyclic graph. Constructing a directed acyclic graph includes determining device nodes according to the available states of the stir-fry devices and determining a connection path between two device nodes according to the task procedure of each stir-fry task.

And determining the action set involved by the model according to the action map, namely the type set of the edges of the directed acyclic graph. As shown in fig. 5, there are 4 key actions in this example.

Available stir-frying equipment is inquired in the stir-frying equipment, and the stir-frying equipment with the available stir-frying equipment can occupy stir-frying equipment with the number larger than zero. And screening the available action cost set according to the available stir-frying equipment and the shelf number of the dishes.

Wherein the available action cost sets AAC_ijThe following conditions are satisfied:

aac_ij＝ac_ij,

ac_ij.sdn∈ADR,

ac_ij.edn∈ADR,

ac_1j.sdn＝ck.sh

the second equation and the third equation indicate that the frying devices corresponding to the starting point device number and the ending point device number of the available action cost are all in the available frying devices, and the fourth equation indicates that the starting point device number of the first action is ck.sh.

It is determined whether the action type in the set of available action costs contains 4 critical actions. If yes, constructing a directed acyclic graph according to the available action cost set; otherwise, prompting that the current equipment does not meet the stir-frying requirement, and ending the algorithm.

And constructing a directed acyclic graph G (V) according to the available process time cost set.

V＝{v|<no,E,md,mdv,mde>}

E＝{e|<no,v,w>}

Where V denotes a set of points of the directed acyclic graph G, V is an element in the set V, v.no is the number of a start point or a destination point in the available process time costs, and v.E denotes a set of all outgoing edges from the point V, that is, a set of edges constructed by all available process time costs starting at v.no.

Md represents the shortest path from the point v to the starting point, the default value is infinite, v.mdv represents the last node of the shortest path from the starting point to the point v, the default value is null, v.mde represents the number from the last node of the shortest path from the starting point to the point v to the entry edge of the point, and the default value is null. E is an element in the set E, e.no. indicates the edge flag, i.e., the process time cost number, e.v indicates the destination point to which this edge points, i.e., the destination point of the corresponding process time cost, and e.w indicates the process time cost.

Obtaining an optimal solution from a directed acyclic graph GThe method comprises the following specific steps:

since the starting point of the graph G is the shelf number and the stir task ck has specified the shelf number ck.sh, there is an acyclic graph G with the starting point vs numbered ck.sh.

Setting vs.md to 0, adding vs to the set PV of marked points, traversing vs.e, finding the destination point e.v of the edge with the minimum cost, and setting e.v.mdv to vs.no and e.v.md to e.w. E.v was added to the PV and e.v was removed from the V;

and circularly traversing all outgoing edges in the PV, which can reach the set V, if the cost of the path from the outgoing edge to the starting point vs is minimum, adding the destination point corresponding to the outgoing edge into the PV, and simultaneously setting the shortest distance v.md of the destination point, the mark v.mdv of the previous vertex and the number v.mde of the incoming edge. Until the number of vertices in set V is empty.

And reversely searching the edge entry number v.mde of the set of all the points passing through the shortest path in the PV according to the index v.mdv of the destination point. The set formed by the edges corresponding to the numbers is the optimal solution, and the optimal solution is returned.

And determining a device list to be occupied according to the optimal solution. Will optimize the solutionAnd after the starting points, the destination points and the executors of all the elements are deduplicated, the obtained set is a set drNoSet formed by the numbers of the devices needing to be occupied, the drNoSet is returned, and the algorithm is ended.

Fig. 6 is a schematic structural diagram of a cooking device scheduling apparatus according to a fourth embodiment of the present application, and as shown in fig. 6, the present application provides a cooking device scheduling apparatus 500, including:

an obtaining module 501, configured to obtain task parameters of a cooking task and device parameters of alternative cooking devices;

a determining module 502, configured to determine, according to the task parameter and the device parameter, an actual cooking device for performing a cooking task when the cooking condition is satisfied;

wherein the cooking conditions include: the actual cooking appliance has the least cost in task time to perform the cooking task.

Optionally, the task parameters include: and (3) task procedures, wherein the equipment parameters comprise: process time cost;

the determining module 502 is specifically configured to:

the actual cooking equipment used to perform the cooking task when the cooking conditions are met is determined based on the task process and the process time cost.

Optionally, the root determining module 502 is specifically configured to:

constructing a flow selection variable for representing the flow of the food material to the next alternative cooking device via the current alternative cooking device;

generating a cost function for representing task time cost according to the circulation selection variable and the process time cost;

constructing constraint conditions of circulation selection variables;

and determining the actual cooking equipment according to the cost function and the constraint condition.