阅读说明：本技术 一种机械臂调度方法和装置 (Mechanical arm scheduling method and device ) 是由 刘庆华 殷伟 于 2020-11-30 设计创作，主要内容包括：本发明公开了机械臂调度方法和装置,涉及计算机技术领域。该方法的一具体实施方式包括获取至少两个目标对象的未执行工序,以分别得到对应的工序时序；将所有工序时序进行合并,得到工序时序集合；基于预设的优化函数,对工序时序集合计算最优解,进而将根据最优解生成的执行序列推送至机械臂,以使该机械臂按顺序完成工序。从而,本发明的实施方式能够解决现有的机械臂工作效率低的问题。(The invention discloses a mechanical arm scheduling method and device, and relates to the technical field of computers. One specific implementation mode of the method comprises the steps of obtaining unexecuted working procedures of at least two target objects so as to respectively obtain corresponding working procedure time sequences; merging all process time sequences to obtain a process time sequence set; and calculating an optimal solution for the process time sequence set based on a preset optimization function, and further pushing an execution sequence generated according to the optimal solution to the mechanical arm so that the mechanical arm completes the processes in sequence. Therefore, the embodiment of the invention can solve the problem of low working efficiency of the existing mechanical arm.)

1. A method for scheduling a mechanical arm is characterized by comprising the following steps:

acquiring unexecuted processes of at least two target objects to respectively obtain corresponding process time sequences;

merging all process time sequences to obtain a process time sequence set;

and calculating an optimal solution for the process time sequence set based on a preset optimization function, and further pushing an execution sequence generated according to the optimal solution to the mechanical arm so that the mechanical arm completes the processes in sequence.

2. The method of claim 1, wherein obtaining unexecuted processes for at least two target objects comprises:

acquiring an unexecuted process of a target object in processing and a process of an unprocessed target object so as to respectively obtain an unexecuted process time sequence of the target object in processing and a process time sequence of the unprocessed target object;

and merging the sequence of the unexecuted process of the target object in the processing and the sequence of the process of the unprocessed target object to obtain a process sequence set.

3. The method of claim 2, wherein obtaining the pending target object unexecuted process sequence and the pending target object process sequence to obtain the pending target object unexecuted process sequence and the pending target object process sequence, respectively, comprises:

acquiring an unexecuted target object process in the process, wherein the unexecuted target object process comprises an unexecuted process number, an unexecuted process preparation time, an unexecuted process execution time and an unexecuted process execution sequence: further, according to the unexecuted working procedures of the target object in the processing, obtaining the unexecuted working procedure time sequence of the target object in the processing, wherein the unexecuted working procedure time sequence of the target object comprises an unexecuted working procedure starting execution time point, an unexecuted working procedure preparation completion time point and an unexecuted working procedure execution completion time point;

a step of acquiring an unprocessed target object, the unprocessed target object including an unprocessed process number, an unprocessed process preparation time, an unprocessed process execution time, and an unprocessed process execution order: an unprocessed target process sequence is obtained from the unprocessed target processes, the unprocessed target process sequence including an unprocessed process start execution time point, an unprocessed process preparation completion time point, and an unprocessed process execution completion time point.

4. The method of claim 3, wherein obtaining a set of process sequences comprises:

the combined procedure sequence set CSP is:

CSP＝{CSP_k|SP¹∪KSP²，0＜k≤n}

KSP²the constraint conditions of (1) are:

wherein, SP¹For non-execution of process sequences for target objects in the process, SP²Sequence of unprocessed target processes, KSP²No denotes a process number, stp denotes a process start execution time point, rtp denotes a process preparation completion time point, etp denotes a process execution completion time point, m and n denote preset constants, i denotes a sequence number of an unexecuted process of a target object under processing, j denotes a sequence number of a process of an unprocessed target object, and k denotes a sequence number of a process in a merged process sequence set.

5. The method of claim 4, wherein computing an optimal solution for the set of process sequences based on a predetermined optimization function comprises:

calculating the minimum value in the end time set of the last procedure time sequence in the procedure time sequence set after combination based on a preset optimization function; the feasible solution constraint condition is that the preparation completion time point of the previous process sequence is less than or equal to the starting execution time point of the next process sequence.

6. The method of claim 5, wherein the optimal solution is:

wherein the content of the first and second substances,for the optimal solution, the CSP combines the sequence sets of the processes, no represents the process number, stp represents the process start execution time point, rtp represents the process preparation completion time point, etp represents the process execution completion time point, and m and n represent the preset constants.

7. The method of any of claims 1-6, wherein generating the execution sequence from the optimal solution comprises:

and sequencing the elements in the optimal solution from small to large according to the execution time points of the process start to generate an execution sequence.

8. A robot arm scheduling apparatus, comprising:

the acquisition module is used for acquiring unexecuted processes of at least two target objects so as to respectively obtain corresponding process time sequences; merging all process time sequences to obtain a process time sequence set;

and the processing module is used for calculating an optimal solution for the process time sequence set based on a preset optimization function, and further pushing an execution sequence generated according to the optimal solution to the mechanical arm so that the mechanical arm completes the processes in sequence.

9. An electronic device, comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.

10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-7.

Technical Field

The invention relates to the technical field of computers, in particular to a method and a device for scheduling a mechanical arm.

Background

With the development of automation technology and the increase of labor cost, no people need to transport the food from kitchen to kitchen. In the unmanned kitchen, the conveying line is used for replacing manual conveying of vegetable raw materials, and the mechanical arm is used for replacing manual feeding, vegetable dish taking, pot washing and other operations of a frying pan.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:

in order to reduce the cost, a plurality of frying pans are generally arranged on one mechanical arm. However, how to improve the concurrency of the frying pan becomes a problem to be solved.

Disclosure of Invention

In view of this, embodiments of the present invention provide a method and an apparatus for scheduling a robot arm, which can solve the problem of low working efficiency of the existing robot arm.

In order to achieve the above object, according to an aspect of the embodiments of the present invention, there is provided a robot scheduling method, including obtaining unexecuted processes of at least two target objects to obtain corresponding process timings, respectively; merging all process time sequences to obtain a process time sequence set; based on a preset optimization function, calculating an optimal solution for the process time sequence set, and further pushing an execution sequence generated according to the optimal solution to the mechanical arm so that the mechanical arm can complete the processes in sequence

Optionally, the step of obtaining at least two unexecuted processes of the target object includes:

acquiring an unexecuted process of a target object in processing and a process of an unprocessed target object so as to respectively obtain an unexecuted process time sequence of the target object in processing and a process time sequence of the unprocessed target object;

and merging the sequence of the unexecuted process of the target object in the processing and the sequence of the process of the unprocessed target object to obtain a process sequence set.

Optionally, the acquiring a non-executed process of the target object during processing and a process of the non-processed target object to obtain a non-executed process sequence of the target object during processing and a process sequence of the target object during processing respectively includes:

acquiring an unexecuted target object process in the process, wherein the unexecuted target object process comprises an unexecuted process number, an unexecuted process preparation time, an unexecuted process execution time and an unexecuted process execution sequence: further, according to the unexecuted working procedure of the target object in the processing, obtaining the unexecuted working procedure time sequence of the target object in the processing, wherein the unexecuted working procedure time sequence of the target object comprises an unexecuted working procedure starting execution time point, an unexecuted working procedure preparation completion time point and an unexecuted working procedure execution completion time point;

a step of acquiring an unprocessed target object, the unprocessed target object including an unprocessed process number, an unprocessed process preparation time, an unprocessed process execution time, and an unprocessed process execution order: further, an unprocessed target process sequence is obtained from the unprocessed target processes, the unprocessed target process sequence including an unprocessed process start execution time point, an unprocessed process preparation completion time point, and an unprocessed process execution completion time point.

Optionally, obtaining a process timing set includes:

the combined procedure sequence set CSP is:

CSP＝{CSP_k|SP¹∪K5P²，0＜k≤n}

KSP²the following conditions are satisfied:

wherein, SP¹For non-execution of process sequences for target objects in the process, SP²Sequence of unprocessed target processes, KSP²Where no denotes a process number, stp denotes a process start execution time point, rtp denotes a process preparation completion time point, etp denotes a process execution completion time point, m and n denote preset constants, and i denotes a serial number of an unexecuted process of a target object in processingJ denotes the sequence number of the step of the unprocessed target object, and k denotes the sequence number of the step in the merged step sequence set.

Optionally, calculating an optimal solution for the process time sequence set based on a preset optimization function, including:

calculating the minimum value in the end time set of the last procedure time sequence in the procedure time sequence set after combination based on a preset optimization function; the feasible solution constraint condition is that the preparation completion time point of the previous process sequence is less than or equal to the starting execution time point of the next process sequence.

Optionally, the optimal solution is:

wherein the content of the first and second substances,for the optimal solution, the CSP combines the sequence sets of the processes, no represents the process number, stp represents the process start execution time point, rtp represents the process preparation completion time point, etp represents the process execution completion time point, and m and n represent the preset constants.

Optionally, generating an execution sequence according to the optimal solution includes:

and sequencing the elements in the optimal solution from small to large according to the execution time points of the process start to generate an execution sequence.

In addition, the invention also provides a mechanical arm scheduling device, which comprises an acquisition module, a scheduling module and a processing module, wherein the acquisition module is used for acquiring the unexecuted processes of at least two target objects so as to respectively obtain corresponding process time sequences; merging all process time sequences to obtain a process time sequence set;

and the processing module is used for calculating an optimal solution for the process time sequence set based on a preset optimization function, and further pushing an execution sequence generated according to the optimal solution to the mechanical arm so that the mechanical arm completes the processes in sequence.

One embodiment of the above invention has the following advantages or benefits: the unexecuted processes for acquiring at least two target objects are adopted to respectively obtain corresponding process time sequences; merging all process time sequences to obtain a process time sequence set; the method comprises the steps of calculating an optimal solution for a process time sequence set based on a preset optimization function, and further pushing an execution sequence generated according to the optimal solution to a mechanical arm so that the mechanical arm can finish processes in sequence.

Further effects of the above-mentioned non-conventional alternatives will be described below in connection with specific embodiments.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

fig. 1 is a schematic diagram of a main flow of a robot arm scheduling method according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram of a main flow of a robot arm scheduling method according to another embodiment of the present invention;

FIG. 3 is a schematic diagram of the major modules of a robotic arm dispatching device according to an embodiment of the present invention;

FIG. 4 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;

fig. 5 is a schematic block diagram of a computer system suitable for use with a terminal device or server implementing an embodiment of the invention.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Fig. 1 is a schematic diagram illustrating a main flow of a robot scheduling method according to a first embodiment of the present invention, as shown in fig. 1, the robot scheduling method including:

step S101, obtaining unexecuted processes of at least two target objects to respectively obtain corresponding process time sequences; and combining all the process sequences to obtain a process sequence set.

In some embodiments, the non-execution process of the target object in the process and the process of the target object not in the process may be obtained to obtain a timing of the non-execution process of the target object in the process and a timing of the process of the target object not in the process, respectively. And then merging the sequence of the unexecuted process of the target object in the processing and the sequence of the process of the unprocessed target object to obtain a process sequence set. For example: use the frying pan as the target object under unmanned kitchen scene, how to schedule the arm, specific implementation process includes:

acquiring a target object in the processing without executing a procedure (for example, a frying pan in frying does not execute a dish procedure):

wherein no represents a process number; rt represents a process preparation time (i.e., a robot arm motion execution time); pt represents a process execution time, and the value of pt may be 0; order indicates the execution order of the processes.

Obtaining a processing non-execution sequence of the target object in the processing (for example, a dish processing non-execution sequence of the frying pan in the frying process in fig. 2):

element(s)The following conditions are satisfied:

here, stp represents a process start execution time point, rtp represents a process preparation completion time point, and etp represents a process execution completion time point.

And a step of obtaining an untreated target object (for example, a step of preparing a wok dish):

obtaining an unprocessed target process sequence:

wherein:

the procedure time sequence after merging is as follows:

CSP＝{CSP_k|SP¹∪KSP²，0＜k≤n}

wherein KSP²The following conditions are satisfied:

that is, the time point corresponding to the merged time sequence can be calculated through the above conditions.

And S102, calculating an optimal solution for the process time sequence set based on a preset optimization function, and further pushing an execution sequence generated according to the optimal solution to the mechanical arm so that the mechanical arm completes the processes in sequence.

In some embodiments, based on the optimization function opt: min max c sp_kEtp, calculating the optimal solution for the process sequence set; the feasible solution constraint condition st is as follows:

it can be seen that the optimization function is the minimum value in the end time set of the last process sequence in the merged subsequent process sequence set, and the feasible solution constraint condition is that the preparation completion time point of the previous process sequence is less than or equal to the start execution time point of the subsequent process sequence.

Preferably, the optimal solution corresponding to the optimization function opt is:

i.e. the set of time sequences that meet the conditions after merging.

It should be noted that the elements in the optimal solution may be sorted from small to large according to the execution time point, stp, from the beginning of the procedure to generate the execution sequence:

wherein cp_kThe following conditions are not satisfied:

cp_k·etp＝cp_k+1·stp，0＜k＜m+n

it should be noted that, if the number of target objects (for example, woks) is greater than a preset threshold (for example, the threshold is 3), the generated execution sequence CP needs to satisfy the following condition:

fig. 2 is a schematic diagram of a main flow of a robot arm scheduling method according to another embodiment of the present invention, which may include:

step S201, acquiring non-executed process P of target object in processing¹And a step P of not processing the target object²。

Step S202, judging P¹If it is empty, let CP become P²Returning to the CP and exiting the process; otherwise, step S203 is executed.

Step S203, respectively obtaining the unexecuted process sequence SP of the target object in the process¹And unprocessed target process sequence SP²。

And step S204, judging whether the loop parameter k is not more than n, if so, executing step S205, otherwise, returning to the CP, and exiting the process.

In step S205, the unexecuted process sequence of the target object in the processing and the unprocessed target object process sequence are combined to obtain the process sequence set CSP.

Step S206, based on the preset optimization function, calculating the optimal solution of the CSP (process sequence set)

Step S207, judging the optimal solution based on the constraint condition of the feasible solutionIf the solution is a feasible solution, if yes, go to step S208; otherwise, let k be k +1, return to step 204.

Step S208, the optimal solution is obtainedThe elements in the sequence are ordered from small to large according to stp to obtain a reordered process setAnd (5) combining the CPs.

In step S209, the execution sequence is generated and pushed to the robot arm so that the robot arm completes the processes in order.

Fig. 3 is a schematic diagram of main modules of a robot arm dispatching apparatus according to an embodiment of the present invention, and as shown in fig. 3, the robot arm dispatching apparatus 300 includes a first module 301 and a second module 302. The obtaining module 301 obtains unexecuted processes of at least two target objects to obtain corresponding process time sequences respectively; merging all process time sequences to obtain a process time sequence set; the processing module 302 calculates an optimal solution for the process sequence set based on a preset optimization function, and then pushes an execution sequence generated according to the optimal solution to the robot arm, so that the robot arm completes the processes in sequence.

In some embodiments, the acquiring module 301 acquires unexecuted processes of at least two target objects, including:

acquiring an unexecuted process of a target object in processing and a process of an unprocessed target object so as to respectively obtain an unexecuted process time sequence of the target object in processing and a process time sequence of the unprocessed target object;

and merging the sequence of the unexecuted process of the target object in the processing and the sequence of the process of the unprocessed target object to obtain a process sequence set.

In some embodiments, the obtaining module 301 is further configured to: the method for acquiring the unexecuted process of the target object in the process and the unprocessed target object so as to respectively obtain the unexecuted process sequence of the target object in the process and the unprocessed target object process sequence comprises the following steps:

acquiring an unexecuted target object process in the process, wherein the unexecuted target object process comprises an unexecuted process number, an unexecuted process preparation time, an unexecuted process execution time and an unexecuted process execution sequence: further, according to the unexecuted working procedure of the target object in the processing, obtaining the unexecuted working procedure time sequence of the target object in the processing, wherein the unexecuted working procedure time sequence of the target object comprises an unexecuted working procedure starting execution time point, an unexecuted working procedure preparation completion time point and an unexecuted working procedure execution completion time point;

a step of acquiring an unprocessed target object, the unprocessed target object including an unprocessed process number, an unprocessed process preparation time, an unprocessed process execution time, and an unprocessed process execution order: further, an unprocessed target process sequence is obtained from the unprocessed target processes, the unprocessed target process sequence including an unprocessed process start execution time point, an unprocessed process preparation completion time point, and an unprocessed process execution completion time point. In some embodiments, the obtaining module 301 obtains a process timing set, including:

the combined procedure sequence set CSP is:

CSP＝{CSP_k|SP¹∪KSp²，0＜k≤n}

KSP²the following conditions are satisfied:

wherein, SP¹For non-execution of process sequences for target objects in the process, SP²Sequence of unprocessed target processes, KSP²Where no denotes a process number, stp denotes a process start execution time point, rtp denotes a process preparation completion time point, etp denotes a process execution completion time point, m and n denote preset constants, i denotes a serial number of an unexecuted process of a target object under processing, j denotes a serial number of a process of an unprocessed target object, k denotes a serial number of a process of a target object after mergingThe sequence number of a process in the process sequence set.

In some embodiments, the processing module 302 calculates an optimal solution for the process sequence set based on a preset optimization function, including:

calculating the minimum value in the end time set of the last procedure time sequence in the procedure time sequence set after combination based on a preset optimization function; the feasible solution constraint condition is that the preparation completion time point of the previous process sequence is less than or equal to the starting execution time point of the next process sequence. In some embodiments, the optimal solution is:

wherein the content of the first and second substances,for the optimal solution, the CSP combines the sequence sets of the processes, no represents the process number, stp represents the process start execution time point, rtp represents the process preparation completion time point, etp represents the process execution completion time point, and m and n represent the preset constants.

In some embodiments, the processing module 302 generates the execution sequence according to the optimal solution, including:

and sequencing the elements in the optimal solution from small to large according to the execution time points of the process start to generate an execution sequence.

It should be noted that the robot scheduling method and the robot scheduling apparatus of the present invention have corresponding relation in specific implementation contents, and therefore, repeated contents are not described again.

FIG. 4 illustrates an exemplary system architecture 400 to which the robot scheduling method or apparatus of embodiments of the present invention may be applied.

As shown in fig. 4, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405. The network 404 serves to provide a medium for communication links between the terminal devices 401, 402, 403 and the server 405. Network 404 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.

A user may use terminal devices 401, 402, 403 to interact with a server 405 over a network 404 to receive or send messages or the like. The terminal devices 401, 402, 403 may have installed thereon various communication client applications, such as shopping applications, web browser applications, search applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).

The terminal devices 401, 402, 403 may be various electronic devices having a robotic arm dispatch screen and supporting web browsing, including but not limited to smart phones, tablets, laptop and desktop computers, and the like.

The server 405 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 401, 402, 403. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.

It should be noted that the robot arm scheduling method provided by the embodiment of the present invention is generally executed by the server 405, and accordingly, the computing device is generally disposed in the server 405.

It should be understood that the number of terminal devices, networks, and servers in fig. 4 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data necessary for the operation of the computer system 500 are also stored. The CPU501, ROM502, and RAM503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output section 507 including a speaker such as a Cathode Ray Tube (CRT), a liquid crystal robot scheduler (LCD), and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.

In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 501.

It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes an acquisition module and a processing module. Where the names of these modules do not in some way constitute a limitation on the modules themselves.

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include unexecuted processes for acquiring at least two target objects to obtain corresponding process sequences, respectively; merging all process time sequences to obtain a process time sequence set; and calculating an optimal solution for the process time sequence set based on a preset optimization function, and pushing an execution sequence generated according to the optimal solution to the mechanical arm so that the mechanical arm completes the processes in sequence.

According to the technical scheme of the embodiment of the invention, the problem of low working efficiency of the existing mechanical arm can be solved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.