CN110134074B - Production line control system and control method thereof - Google Patents
Production line control system and control method thereof Download PDFInfo
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- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
The invention provides a production line system and a control method thereof. Wherein, a control system of production line includes: a plurality of control subsystems for respectively controlling the devices corresponding to the respective control subsystems; and the instruction dispatcher is used for distributing the canonical instruction to the control subsystem corresponding to the type in the plurality of control subsystems according to the type of the canonical instruction. In addition, the invention also provides a computer readable storage medium for storing executable instructions of a processor and a computer device. The invention can increase the accuracy, stability and portability of the production line control system, is convenient for the mass production of the flexible production line and enables the flexible production line to have high availability.
Description
Technical Field
The present invention generally relates to the field of intelligent control technology, and more particularly to a control system of a production line and a control method thereof.
Background
With the rapid development of economy and the remarkable improvement of the consumption level of people, the social demands for product diversification, low manufacturing cost, short manufacturing period and the like are increasingly urgent, and personalized and customized products with characteristics and meeting the requirements of users are more needed in the market. To cope with this revolution, Flexible Manufacturing systems or production lines (FMS) based on various Flexible Manufacturing technologies have come into force.
A flexible production line generally consists of processing equipment, auxiliary equipment, a production line control system and associated storage libraries. FIG. 1 is a typical flexible production line, comprising: the material robot (1) is responsible for carrying materials, loading and unloading a machine tool and storing a three-dimensional warehouse of the material warehouse; the material three-dimensional warehouse (2) is used for storing unprocessed materials and processed workpieces; the cutter manipulator (3) is responsible for dispatching the cutters of the tool magazine and feeding and discharging the cutters of the machine tool; the three-dimensional tool magazine (4) is used for storing tools of a production line, including sister tools and tools which cannot be mounted on a machine tool; a machine tool group (5), a main body of a production line and a group of processing centers; and a production line control system (6) and a brain of the production line are used for scheduling production of the work orders and managing all elements of the production line.
Due to the rise of unmanned production lines, light-off factories and the like, the flexible production line is required to be capable of automatically completing the whole process from the input of work orders and process information to the completion of workpieces, manual intervention is not needed or is rarely needed midway, and the production line is also required to be capable of producing according to a scheme with an optimal target, and is called as a flexible intelligent production line. Fig. 2 illustrates a flexible intelligent production line input-output analysis diagram according to the related art. Referring to fig. 2, the input information received by the flexible intelligent production line includes process information, materials, work orders and the like, and finished products are directly output at the output side.
The production line control system is the brain of the flexible intelligent production line and is responsible for scheduling production of work orders, scheduling of cutters, scheduling of materials, controlling of machine tools and controlling of other equipment. FIG. 3 is a functional block diagram of a production line control system, which can be broadly divided into two blocks, one for planning capability and the other for scheduling capability.
Scheduling capability refers to the ability of the production line control system to control the actions of the underlying hardware devices. Fig. 4 is a technical solution of a production line control system controlling underlying devices, in fig. 4, NC stands for numerical control machines (e.g., NC1, NC2, NC3, NC4, etc.), and an intelligent total control system (IPC) controls them based on NC-API (TCP/IP) through Local Area Networks (LANs); in fig. 4, RC represents a manipulator (for example, RC1, RC2, etc.), and the controller and the card Reader (RFID) are an intelligent central control system (IPC) which controls a field control system (PLC) based on TCP/IP via a MODBUS network, and the PLC controls the manipulator and the RFID. In addition, the bottom layer hardware of the common flexible production line also comprises a detector, a two-dimensional code printer … … and the like.
The production line control system controls the action of bottom hardware equipment by sending corresponding instructions, arranges the production line according to the input work order by combining the production line resource condition and the process route, and then generates instructions to control the hardware to produce.
The traditional production line control system mainly has the following problems in the process of sending instructions to control the action of bottom equipment:
(1) the production line control system needs to have the functions of managing cutters, managing materials, dynamically scheduling production, controlling various hardware actions and the like, and in the traditional production line control system, the functions are integrated, so that the control system is large in size, and the system stability and maintenance work are not facilitated.
(2) In a conventional production line control system, when an instruction is issued to a specific device, if the device has a problem and the action cannot be completed normally, the subsequent actions of the production line may not be performed. The consequence of this is that the entire production line is unusable due to a single point of failure. For example, issue instruction control No. 1 manipulator "carry 27 materials to No. 3 lathe", if No. 1 manipulator goes wrong, the material can't be sent to No. 3 lathe, then subsequent "27 materials" relevant instruction: operations such as processing, coding and the like can not be continued.
(3) In a traditional production line control system, in order to control the action of bottom layer hardware, a control system needs to issue an instruction which can be recognized by the hardware, and generally, control instructions of devices of different models and versions are different. The result of this is that the production line control system is changed according to the underlying hardware, and the control system has no portability and no hardware independence. In actual production, if the hardware layer is changed, such as hardware upgrading, hardware system upgrading or equipment addition, the control system is required to be changed, and the control system is changed by a large project, so that the cost is greatly increased, and the mass production of the flexible production line is not facilitated.
Disclosure of Invention
In order to solve the above problems, the present invention provides a production line control system and a control method thereof.
According to an aspect of the present invention, an embodiment of the present invention provides a control system for a production line, including: a plurality of control subsystems for respectively controlling the devices corresponding to the respective control subsystems; and the instruction dispatcher is used for distributing the canonical instruction to the control subsystem corresponding to the type in the plurality of control subsystems according to the type of the canonical instruction.
Preferably, the production line control system further comprises: and the instruction interpreter interprets the standard instruction issued by the control subsystem into a corresponding control instruction.
Preferably, the instruction interpreter is further capable of acquiring feedback instruction information from the corresponding device to obtain the state information of the device.
Preferably, when the status information of the device indicates that the device cannot complete the action corresponding to the control instruction, the instruction interpreter is capable of searching for other devices which are idle on the production line and are of the same type as the device, so as to complete the action corresponding to the control instruction.
Preferably, when the feedback instruction information shows that the device does not perform the action corresponding to the control instruction within a predetermined time, the instruction interpreter determines that the device cannot complete the action corresponding to the control instruction.
Preferably, the instruction interpreter is capable of feeding back the feedback instruction information to the control subsystem corresponding thereto.
Preferably, the control subsystem feeds back the feedback instruction information to the instruction dispatcher.
Preferably, the control subsystem is further capable of receiving feedback instruction information of the devices to obtain the states of the respective devices.
Preferably, when the state of the device indicates that the device cannot complete the action corresponding to the control instruction, the control subsystem may search for other idle devices of the same type as the device on the production line to complete the action corresponding to the control instruction.
Preferably, when the feedback instruction information indicates that the device does not perform the action corresponding to the control instruction within a predetermined time, the control subsystem is capable of determining that the device cannot complete the action corresponding to the control instruction.
Preferably, the instruction dispatcher reads the canonical instruction from a database.
Preferably, the instruction dispatcher, the control subsystem and/or the instruction interpreter are capable of receiving feedback instruction information of the respective next level when issuing instructions to the next level thereof, so as to obtain completion status information of the next level on the instructions.
Preferably, the control subsystem and/or the instruction interpreter are in one-to-one correspondence with each type of device.
Preferably, the plurality of control subsystems operate in parallel and respectively control the actions of the devices corresponding to the control subsystems.
Another aspect of the present invention further provides a method for controlling a production line, including: an instruction dispatcher acquires a standard instruction; according to the type of the canonical instruction, the instruction dispatcher distributes the canonical instruction to a control subsystem corresponding to the type in the plurality of control subsystems for controlling the action of the corresponding equipment.
Preferably, the corresponding control subsystem issues the standard instruction to a corresponding instruction interpreter, and the corresponding instruction interpreter interprets the standard instruction as a corresponding control instruction for controlling the action of the corresponding equipment.
Preferably, the corresponding instruction interpreter receives feedback instruction information of the corresponding device to obtain status information of the corresponding device.
Preferably, when the status information of the corresponding device indicates that the corresponding device cannot complete the action corresponding to the control instruction, the corresponding instruction interpreter searches for other devices which are idle on the production line and are of the same type as the corresponding device.
Preferably, when the feedback instruction information indicates that the corresponding device has not performed the action corresponding to the control instruction within a predetermined time, the corresponding instruction interpreter determines that the corresponding device cannot complete the action corresponding to the control instruction.
Preferably, the corresponding instruction interpreter feeds back the feedback instruction information to the corresponding control subsystem.
Preferably, the corresponding control subsystem feeds back the feedback instruction information to the instruction dispatcher.
Preferably, the corresponding control subsystem further receives feedback instruction information of the corresponding device to obtain status information of the corresponding device.
Preferably, when the status information of the corresponding device indicates that the corresponding device cannot complete the action corresponding to the control instruction, the corresponding control subsystem searches for other devices which are idle on the production line and are of the same type as the corresponding device.
Preferably, when the feedback instruction information indicates that the corresponding device does not perform the action corresponding to the control instruction within a predetermined time, the corresponding control subsystem determines that the corresponding device cannot complete the action corresponding to the control instruction.
Preferably, the corresponding control subsystem further feeds back the received feedback instruction information of the corresponding device to the instruction dispatcher.
Preferably, when the instruction dispatcher dispatches the specification instruction to the corresponding control subsystem, feedback instruction information is received from the corresponding control subsystem to acquire state information of the corresponding control subsystem completing the specification instruction.
Preferably, when the corresponding control subsystem issues the standard instruction to the corresponding instruction interpreter, feedback instruction information is received from the corresponding instruction interpreter, so as to obtain state information of the corresponding instruction interpreter completing the standard instruction.
Preferably, the instruction dispatcher reads the canonical instruction from a database.
Preferably, the instruction dispatcher sends the feedback instruction information to a database for storage.
Preferably, the plurality of control subsystems operate in parallel and respectively control the actions of the devices corresponding to the control subsystems.
Yet another aspect of the present invention provides a computer-readable storage medium storing processor-executable instructions, the processor-executable instructions stored in the computer-readable storage medium, when executed, are capable of causing a processor to implement the above-described line control method.
Yet another aspect of the present invention provides a computer device comprising a computer-readable storage medium as described above and a processor capable of executing processor-executable instructions stored in the computer-readable storage medium.
The invention provides a production line control system combining distributed and interpreted execution and a control method thereof, which solve the problems of the correlation of a control instruction platform of the production line control system, the large issuing system, no high availability and the like, increase the accuracy, stability and portability of the production line control system, facilitate the mass production of flexible production lines and enable the flexible production lines to have high availability.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in detail preferred embodiments thereof with reference to the accompanying drawings in which:
FIG. 1 shows a schematic view of a typical flexible production line in the prior art;
FIG. 2 illustrates a prior art input/output analysis diagram of a flexible intelligent production line;
FIG. 3 shows a schematic diagram of a planning and scheduling architecture of a prior art production line control system;
FIG. 4 illustrates a prior art approach for a production line control system to control underlying equipment;
FIG. 5 is a schematic block diagram illustrating a distributed line control instruction issue architecture according to an embodiment of the present invention;
FIG. 6 shows a schematic flow diagram of a production line control method of one embodiment of the present invention;
FIG. 7 illustrates an example process for an instruction dispatcher to dispatch canonical instructions according to one embodiment of the invention;
FIG. 8 is a schematic flow chart showing the processing of feedback instruction information at step S605 in the production line control method of the present invention
FIG. 9 shows another schematic flow diagram of a production line control method of one embodiment of the present invention;
FIG. 10 shows an example of a process for an instruction interpreter to interpret canonical instructions, according to one embodiment of the invention;
FIG. 11 shows another schematic flow diagram of a process line control method of one embodiment of the present invention;
FIG. 12 shows another schematic flow diagram of a process line control method of one embodiment of the present invention.
Throughout the drawings, the same or similar structures are identified by the same or similar reference numerals.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connected" as used herein may include wirelessly connected. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
In order to solve the technical problems, the invention provides a production line control mechanism which distributes production line control instructions to each control subsystem in a distributed manner based on a distributed principle so that the control instructions are related to hardware types and the control system is simplified.
FIG. 5 is a schematic block diagram illustrating a distributed production line control instruction issue architecture according to an embodiment of the present invention. As shown in fig. 5, the distributed line control instruction issuing architecture includes a line control system and a device layer 54, wherein the line control system includes modules such as an instruction dispatcher 51 and a control subsystem 52, and the device layer 54 includes multiple types of devices such as a first type device 541, a second type device 542, third type devices 543, … …, and an nth type device 54 n. The control subsystem 52 includes a plurality of control subsystems, such as a first control subsystem 521, a second control subsystem 522, third control subsystems 523 and … …, and an nth control subsystem 52n, for controlling actions of corresponding types of devices among the plurality of types of devices in the device layer 54. For example, the first control subsystem 521 is used for controlling the first-type device 541, the second control subsystem 522 is used for controlling the second-type device 542, the third control subsystem 523 is used for controlling the third-type device 543, and the like, the first type devices 541 may include a plurality of devices of the same type (first type devices 5411 to 541m), the second type devices 542 may include a plurality of devices of the same type (first type devices 5421 to 542m), the third type devices 543 may include a plurality of devices of the same type (third type devices 5431 to 543m), and the like, wherein in each of the same type of equipment, the equipment (such as the first type of equipment 5411-541 m) can operate simultaneously, or when one of the equipment (such as the first type of equipment 5411) operates, one or more devices (such as the first type devices 5412-541 m) in other similar devices can be used as standby devices of the devices in operation.
The instruction dispatcher 51 dispatches the obtained specification instruction to a corresponding control subsystem of the control subsystems 52 according to the type of the specification instruction, and the corresponding control subsystem controls the operation of a corresponding type of device in the device layer 54 based on the specification instruction.
In addition, the corresponding one of the control subsystems 52 obtains feedback command information from the corresponding type of device in the device layer 54 to obtain command reception and/or completion status of the corresponding type of device in the device layer 54. The command dispatcher 51 obtains feedback command information from a corresponding one of the control subsystems 52 to obtain command reception and/or completion status of the corresponding one of the control subsystems 52.
In the above embodiment, the production line control system may further include a database 55 for storing data such as a specification instruction and feedback instruction information. The specification command may be generated by a planning section (a scheduling function thereof) (not shown) in the production line control system, and stored in the database 55. The instruction dispatcher 51 can read the canonical instructions from the database 55 and dispatch them accordingly.
The production line control system has a planning function and a scheduling function. The planning function is mainly completed by a planning function module (not shown) in the production line control system, and the planning function module calculates material planning, cutter planning, production scheduling planning and the like of the production line to generate the standard instruction. The standard instructions generated by the planning function module of the production line control system can be stored in the database for the instruction dispatcher 51 to read. The standard command is a general command for controlling the movement of the production line, and is associated with the type of hardware, such as "machine tool action", "robot action", and "two-dimensional code printer action", regardless of the type and version of the hardware.
The scheduling function is mainly performed by the control subsystem 52, which is used to control the underlying hardware actions. In a traditional production line control system, all types of hardware actions are completed by one system, so that the control system is large in size and is not beneficial to system stability and maintenance work. In the present invention, a plurality of control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystems 523 and … …, and the nth control subsystem 52n) are used to control the operations of the corresponding devices (the first type device 541, the second type device 542, the third type devices 543 and … …, and the nth type device 54n), respectively. Then, the instruction dispatcher 51 dispatches the obtained normal instruction to the corresponding control subsystem (the first control subsystem 521, the second control subsystem 522, the third control subsystems 523 and … …, and the nth control subsystem 52n) of the control subsystems 52 according to the type of the normal instruction.
For example, the command dispatcher 51 dispatches a Control command for controlling the machine tool among the obtained standard commands to a Control subsystem (NCServer, Numerical Control Server) (first Control subsystem 521) for scheduling the machine tool, so as to Control the operation of the machine tool; a Control instruction for controlling the manipulator in the obtained standard instructions is dispatched to a Control subsystem (RCServer, Robot Control Server) (second Control subsystem 522) for scheduling the manipulator to Control the action of the manipulator; a Control instruction for controlling the measuring machine among the obtained specification instructions is issued to a Control subsystem (MCServer) for scheduling the measuring machine (third Control subsystem 523) to Control the action of the measuring machine.
In the present invention, the plurality of control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystems 523 and … …, and the nth control subsystem 52n) may be operated in different processes on the same physical host, or may be operated on different physical hosts.
The obtained standard instruction is dispatched to a corresponding control subsystem in the plurality of control subsystems through the instruction dispatcher 51 according to the type of the standard instruction, so that the production line control system sends the instruction in a distributed manner, the function of each control subsystem is clear, the program on each control subsystem is simplified, and low coupling and high cohesion are achieved. In addition, in the invention, distributed underground instruction sending is adopted, the coupling degree is reduced, one functional block is added and changed without influencing other functional modules (control subsystems), the work division and cooperation are convenient during development, and the workload can be reduced during maintenance. Meanwhile, in the invention, the failure of one functional module (control subsystem) can not cause the breakdown of the whole system, thereby increasing the robustness and reliability, reducing the requirement on single equipment and comprehensively utilizing resources at all places. In addition, the control subsystems are parallel, so that the command is issued more quickly, different types of equipment (such as different types of equipment for machine tools, mechanical hands or two-dimensional code printing) of the production line can be scheduled to act simultaneously, and the production line efficiency is improved.
In the above embodiment, the production line control system may further include an instruction interpreter 53, wherein the instruction interpreter 53 includes a first instruction interpreter 531, a second instruction interpreter 532, third instruction interpreters 533, … …, an nth instruction interpreter 53n, and the like. Preferably, each of the instruction interpreters 53 corresponds to one of the control subsystems 52. More preferably, each of the instruction interpreters 53 is in one-to-one correspondence with a plurality of types of devices in the device layer 54.
In the present invention, instruction interpreters (a first instruction interpreter 531, a second instruction interpreter 532, third instruction interpreters 533, … … and an nth instruction interpreter 53n) are added between the control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, … … and the nth control subsystem 52n) and the devices corresponding to the control subsystems (the first type device 541, the second type device 542, the third type device 543, … … and the nth control subsystem 54n), each control subsystem issues the standard instruction (general instruction) received from the instruction dispatcher 51 to the instruction interpreters corresponding to the control subsystems, and the instruction interpreters convert the general instruction into the control instruction of corresponding hardware, so as to control the action of the corresponding hardware (device). Without an instruction interpreter, the control instructions of the control subsystem are directly related to the hardware, so when the hardware is changed, the control subsystem needs to be modified. However, in the present invention, by adding the instruction interpreter between the control subsystem and the corresponding device, the control subsystem issues the standard instruction received from the instruction dispatcher 51 to the instruction interpreter, which then "interprets" the standard instruction as the corresponding hardware control instruction to control the hardware action, so that even if the bottom hardware is changed or the system is upgraded, the main body of the control subsystem is not affected, and only the instruction interpreter needs to be changed. The characteristic enables a production line control system to have hardware independence, so that the production line control system can be easily transplanted, and the mass production of the production line is facilitated; meanwhile, for the developer of the flexible production line control system, the hardware-independent performance makes the developer focus more on the realization of the 'functions' of the production line control system, such as the modeling of a process route, the management of tools, the management of materials and the realization … … of dynamic production scheduling without considering the particularity of the bottom layer equipment.
In the above embodiment, preferably, a device hot-switch function module (not shown) of the same type is respectively disposed in the plurality of control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystems 523, … …, and the nth control subsystem 52n) or the instruction interpreters (the first instruction interpreter 531, the second instruction interpreter 532, the third instruction interpreters 533, … …, and the nth instruction interpreter 53n), and when a device specified by a control instruction issued by the control subsystem or the instruction interpreter fails to complete an action, the control subsystem or the instruction interpreter actively searches for the remaining idle devices of the same type to complete the action, and the function is transparent to an upper layer. As shown in FIG. 5, the first type devices 541 include a plurality of devices of the same type (first type devices 5411 to 541m), the second type devices 542 include a plurality of devices of the same type (second type devices 5421 to 542m), the third type devices 543 include a plurality of devices of the same type (third type devices 5431 to 543m), and so on. For example, when the active second-type device 5421 fails to complete the operation, the second control subsystem 522 or the second instruction interpreter 532 for controlling the second-type device 542 detects a standby second-type device (e.g., the second-type device 5422) of the second-type device 542, and issues an instruction to make the standby second-type device continue to the failed second-type device 5421 to execute the service, thereby implementing uninterrupted or short-time interruption of the service.
For example, when in one instruction issue, "RCServer" receives a control instruction from an upper layer: let "manipulator 1" carry "27 material" to "3 lathe", if "manipulator 1" has appeared the trouble at this moment, can't carry out this action, then "RCServer" will seek "manipulator 2" that is in idle state at this moment and accomplish "27 material" and carry "27 material" to "3 lathe", and processing, operation such as beating the sign indicating number after "27 material" can all continue like this, realizes the uninterrupted of producing the line operation.
In the above embodiment, when the feedback instruction information indicates that the corresponding device (the first type device 541, the second type device 542, the third type device 543, … …, the nth type device 54n) does not perform the action corresponding to the control instruction within a predetermined time, the control subsystem or the instruction interpreter determines that the corresponding device cannot perform the action corresponding to the control instruction.
FIG. 6 shows a schematic flow diagram of a production line control method according to an embodiment of the invention. As shown in fig. 6, a specification command is generated by a planning section (a scheduling function therein) (not shown) in the production line control system and stored in the database 55 (step S601). When the production line control system starts processing, the instruction dispatcher 51 reads out the corresponding standard instruction from the database 55 to obtain the standard instruction (step S602). The instruction dispatcher 51 dispatches the obtained standard instruction to a corresponding control subsystem (the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, … …, the nth control subsystem 52n) of the control subsystems 52 according to the type of the standard instruction (step S603), and the corresponding control subsystem issues the standard instruction to a corresponding type of device (the first type device 541, the second type device 542, the third type device 543, … …, the nth type device 54n) in the device layer 54 to control the operation thereof (step S604).
In this embodiment, the corresponding control subsystem further receives and processes feedback instruction information from the corresponding type of equipment pointed by the standard instruction (step S605), and feeds the feedback instruction information back to the instruction dispatcher 51, and the instruction dispatcher receives the feedback instruction information (step S606) and stores the feedback instruction information in the corresponding area of the database 55 (step S607). By receiving feedback instruction information of the corresponding type of equipment to which the instruction points, the superior system issues the instruction to the inferior system, and the inferior system feeds back the receiving and finishing conditions of the instruction to the superior system, so that the superior system can know the state of the inferior system and the execution condition of the action, the system decision and control are more accurate, and the next-level working abnormity and fault can be timely and accurately found.
The following describes a process of distributing the specification command by the command dispatcher 51, taking a numerical control machine tool production line as an example (see fig. 7).
Assuming that the first type device 541 is a machine tool, the second type device 542 is a robot, and the third type device 543 is a control measuring machine, the canonical instruction may be defined to include an "E x" field (and other relevant fields), where "x" represents any number from 0 to 9, and is further defined as follows:
"E1" is a command for controlling the machine tool, such as "E103" indicates the machine tool is adding the tool, and "E104" indicates the machine tool program is deselected;
"E2" is a field for controlling the robot, such as "E203" indicating that the robot sends the corresponding tray to the loading station;
"E3" is a command for controlling the measuring machine, and "E304" indicates that the measuring machine measures the workpiece online.
The instruction dispatcher 51 sorts the "canonical instructions" according to their "E x" fields and distributes them to different control subsystems. For example, "E1" is distributed to the first control subsystem 521 of the machine tool as the first type of equipment 541, "E2" is distributed to the second control subsystem 522 of the manipulator as the second type of equipment 542, and "E3" is distributed to the third control subsystems 523, … … of the measuring machine as the third type of equipment 543. Among these, the canonical instructions "E1" may be used for one or more of the first type devices 541 (such as machine tool 1 corresponding to first type device 5411, machine tool 2 corresponding to first type device 5412, … …), the canonical instructions "E2" may be used for one or more of the second type devices 542 (such as manipulator 1 corresponding to second type device 5421, manipulator 2 corresponding to second type device 5422, … …), and the canonical instructions "E3" may be used for one or more of the third type devices 543 (such as measuring machine 1 corresponding to third type device 5431, measuring machine 2 corresponding to third type device 5432, … …).
Fig. 8 is a schematic flow chart showing the processing of feedback instruction information in step S605 of the production line control method according to the embodiment of the present invention. As shown in fig. 8, the corresponding control subsystem receives feedback command information from the corresponding type of equipment pointed by the standard command (step S6051), and determines whether the corresponding type of equipment can complete the action corresponding to the standard command (step S6052). For example, the feedback instruction information may include information "0" and "1" of the instruction receiving and completing status of the display device, if the feedback instruction information includes that the information of the instruction receiving and completing status of the display device is "0", it is displayed that the current device is capable of receiving and/or completing the related instruction, and if the feedback instruction information includes that the information of the instruction receiving and completing status of the display device is "1", it is displayed that the current device is incapable of receiving and/or completing the related instruction. Of course, other ways of displaying that the current device can receive and/or complete the relevant instructions may be used in the present invention as long as the object of the present invention is achieved.
When it is determined that the corresponding type of device cannot complete the operation corresponding to the canonical instruction (step S6052: no), for example, the feedback instruction indicates that the first type device 541, the second type device 542, the third type device 543, … …, and/or the nth type device 54n have an abnormal operation or a failure, and the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, … …, and/or the nth control subsystem 52n actively searches for other idle similar devices capable of completing the operation among the first type device 541, the second type device 542, the third type device 543, … …, and/or the nth type device 54n (step S6053). And taking the other idle similar equipment as the currently used equipment to continuously issue the standard instruction and receive feedback instruction information from the currently used equipment.
When it is determined that the corresponding type of device can complete the action corresponding to the canonical instruction (yes in step S6052), the first control subsystem 521, the second control subsystem 522, the third control subsystems 523 and … …, and/or the nth control subsystem 52n continue to use the corresponding type of device as the currently used device, continue to issue the canonical instruction, and receive feedback instruction information from the corresponding type of device.
FIG. 9 shows another schematic flow diagram of a production line control method according to an embodiment of the invention. As shown in fig. 9, in the other schematic flowchart, steps S901 to S903 are the same as steps S601 to S603, and the description thereof will not be repeated.
The corresponding control subsystem issues the canonical instruction to a corresponding instruction interpreter of the first instruction interpreter 531, the second instruction interpreter 532, the third instruction interpreter 533, … …, or the nth instruction interpreter 53n (step S904), and the corresponding instruction interpreter interprets the general canonical instruction as a hardware control instruction corresponding to the first type device 541, the second type device 542, the third type device 543, … …, the nth type device 54n, and the like (step S905), and issues the hardware control instruction to a corresponding type device (the first type device 541, the second type device 542, the third type device 543, … …, the nth type device 54n) in the device layer 54 to control the operation thereof (step S906).
In the present embodiment, the corresponding command interpreter further receives and processes feedback command information from the corresponding type of equipment to which the hardware control command is directed (step S907), feeds the feedback command information back to the corresponding control subsystem of the first control subsystem 521, the second control subsystem 522, the third control subsystems 523 and … …, and/or the nth control subsystem 52n (step S908), and feeds the feedback command information back to the command dispatcher 51 by the corresponding control subsystem (step S909), and stores the feedback command information in the corresponding area of the database 55 (step S910). By receiving the feedback instruction of the corresponding type of equipment to which the instruction points, the superior system issues the instruction to the inferior system, and the inferior system feeds back the receiving and finishing conditions of the instruction to the superior system, so that the superior system can know the state of the inferior system and the execution condition of the action, the system decision and control are more accurate, and the next-level working abnormity and fault can be timely and accurately found.
The process of the "machine tool instruction interpreter" (for example, the first instruction interpreter 531) interpreting the specification instructions will be described below taking as an example an instruction interpreter relating to a machine tool in a production line of a numerical control machine tool (see fig. 10).
The "normal command" for controlling the operation of the machine tool, which is dispatched by the command dispatcher 51, includes a "E1 ″. The hardware control command for controlling the machine tool action by the "machine tool command interpreter" (e.g. the first command interpreter 531) is to call a remote call interface (custom protocol) which encapsulates the state of the numerical control system, such as the corresponding tool control interface of the numerical control system (see table 1):
TABLE 1 tool control interface List
| Interface | Description of the invention |
| HNC_ToolLoad | Tool file import |
| HNC_ToolSave | Knife file preservation |
| HNC_ToolGetMaxToolNum | Obtaining the maximum number of tools of the system |
| HNC_ToolGetToolPara | Obtaining tool parameters |
| HNC_ToolSetToolPara | Setting tool parameters |
As shown in fig. 10, the instruction dispatcher dispatches a "gauge instruction" (e.g., instruction 3) to a control subsystem (e.g., first control subsystem 521) for controlling the operation of the machine tool, and the control subsystem issues the gauge instruction to a machine tool instruction interpreter (first instruction interpreter 531), where "E103" represents a machine tool load tool instruction. The standard command is interpreted into a hardware control command (actually a control interface) for controlling the action of the machine tool by a machine tool command interpreter, and the method is divided into three steps:
importing a cutter file by an HNC _ ToolLoad machine tool;
the HNC _ ToolSave machine tool saves a cutter file;
HNC _ ToolGetToolPara obtains parameters of a machine tool cutter, and whether modification is successful is confirmed;
the hardware control command directly controls the machine tool action.
In the above embodiment, as for the processing procedure of feeding back the instruction information in step S907, refer to step S605 (refer to fig. 8), and the description thereof will not be repeated.
FIG. 11 shows another schematic flow diagram of a production line control method according to an embodiment of the invention. As shown in fig. 11, a specification command is generated by a planning section (a scheduling function therein) (not shown) in the production line control system and stored in the database 55 (step S1101). When the production line control system starts the processing, the instruction dispatcher 51 reads out the corresponding standard instruction from the database 55 to obtain the standard instruction (step S1102). The command dispatcher 51 dispatches the obtained normal command to a corresponding control sub-system (the first control sub-system 521, the second control sub-system 522, the third control sub-systems 523, … …, the nth control sub-system 52n) among the control sub-systems 52 according to the type of the normal command (step S1103), and the command dispatcher 51 receives feedback command information from the corresponding control sub-system and stores the feedback command information in the memory 51 (step S1104). The method and the system have the advantages that the instruction is issued to the corresponding control subsystem of the next level, and the feedback instruction of the next level is received at the same time, so that the state of the corresponding control subsystem and the execution condition of the action can be mastered in time, the system decision and control are more accurate, and the working abnormity and faults of the corresponding control subsystem can be timely and accurately found.
The corresponding control subsystem issues the specification command to the devices of the corresponding type (the first type device 541, the second type device 542, the third type devices 543, … …, the nth type device 54n) in the device layer 54 to control the operation thereof (step S1105). The corresponding control subsystem receives and processes feedback command information from the corresponding type of equipment to which the specification command is directed (step S1106), and feeds the feedback command information back to the command dispatcher 51 (step S1107) and stores the feedback command information in the corresponding area of the database 55 (step S1108). By adopting feedback instructions of all levels, the superior system issues the instructions to the inferior system, and the inferior system feeds back the receiving and finishing conditions of the instructions to the superior system, so that the superior system can know the state of the inferior system and the execution condition of the action, the decision and control of the system are more accurate, and the abnormal work and the fault of all levels can be timely and accurately found.
In the above embodiment, as for the processing procedure of feeding back the instruction information in step S1106, reference may be made to step S605 (refer to fig. 8), and the description thereof will not be repeated.
FIG. 12 shows another schematic flow diagram of a production line control method according to an embodiment of the invention. As shown in fig. 12, in this other schematic flowchart, steps S1201 to S1204 are the same as steps S1101 to S1104, and the description thereof will not be repeated.
The corresponding control subsystem issues the standard command to the corresponding command interpreter among the first command interpreter 531, the second command interpreter 532, the third command interpreter 533, … …, and the nth command interpreter 53n (step S1205), receives feedback command information from the corresponding command interpreter, feeds the feedback command information back to the command dispatcher 51, and stores the feedback command information in the corresponding area of the database 55 (step S1206). The feedback instruction of the next level is received while the instruction is issued to the corresponding instruction interpreter of the next level, so that the state of the corresponding instruction interpreter and the execution condition of the action can be mastered in time, system decision and control are more accurate, and the working abnormity and fault of the corresponding instruction interpreter can be timely and accurately found.
The corresponding instruction interpreter interprets the general specification instruction as a hardware control instruction corresponding to the first type device 541, the second type device 542, the third type device 543, … …, the nth type device 54n, etc. (step S1207), and issues the hardware control instruction to the corresponding type devices (the first type device 541, the second type device 542, the third type device 543, … …, the nth type device 54n) in the device layer 54 to control the actions thereof (step S1208).
In this embodiment, the corresponding command interpreter further receives and processes feedback command information from the corresponding type of device to which the hardware control command is directed (step S1209), and feeds the feedback command information back to the corresponding control subsystem of the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, … …, and/or the nth control subsystem 52n (step S1210), and the corresponding control subsystem feeds the feedback command information back to the command dispatcher 51 and stores the feedback command information in the corresponding area of the database 55 (step S1211). By adopting feedback instructions of all levels, the superior system issues the instructions to the inferior system, and the inferior system feeds back the receiving and finishing conditions of the instructions to the superior system, so that the superior system can know the state of the inferior system and the execution condition of the action, the decision and control of the system are more accurate, and the abnormal work and the fault of all levels can be timely and accurately found.
In the above embodiment, as for the processing procedure of feeding back the instruction information in step S1209, step S605 (refer to fig. 8) can be referred to, and a description thereof will not be repeated.
Communication between different devices requires a corresponding communication protocol, and in flexible production lines, the transmission of instructions from the control system to the corresponding devices also requires a corresponding protocol. In the above embodiment, the communication protocol may be customized based on the TCP/IP protocol by using data formats such as JSON and XML according to the characteristics of the control command.
The present invention also provides at least one computer storage medium in the form of non-volatile or volatile memory, such as electrically erasable programmable read-only memory (EEPROM), flash memory, and a hard disk drive, storing computer-executable instructions. The computer executable instructions, when executed by the processor, cause the product control assembly or the control system of the flexible intelligent production line or the flexible intelligent production line system to perform actions such as the processes described in the control methods of the flexible intelligent production line previously.
The processor may be a single CPU (central processing unit), but may also include two or more processors. For example, the processor may comprise a general purpose microprocessor; an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)). The processor may also include onboard memory for caching purposes. For example, the computer storage medium may be flash memory, Random Access Memory (RAM), Read Only Memory (ROM), or EEPROM.
Those skilled in the art will appreciate that the present invention includes apparatus relating to performing one or more of the operations described in the present invention. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the features specified in the block or blocks of the block diagrams and/or flowchart illustrations of the invention disclosed herein.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (29)
1. A control system for a production line, comprising:
the control subsystems are used for respectively controlling the equipment corresponding to the control subsystems, and each control subsystem corresponds to each type of equipment one by one;
the system comprises a plurality of command interpreters, a plurality of control subsystems and a plurality of types of equipment, wherein each interpreter is connected between each control subsystem and each type of equipment and is used for interpreting a standard command issued by the control subsystem into a corresponding control command;
and the instruction dispatcher is used for distributing the canonical instruction to the control subsystem corresponding to the type in the plurality of control subsystems according to the type of the canonical instruction.
2. The control system of production line as claimed in claim 1, wherein said instruction interpreter is further capable of acquiring feedback instruction information from the corresponding said equipment to obtain status information of said equipment.
3. The system of claim 2, wherein the command interpreter is capable of searching for other devices of the same type as the device that are idle on the production line to complete the action corresponding to the control command when the status information of the device indicates that the device cannot complete the action corresponding to the control command.
4. The control system of a production line according to claim 3, wherein the instruction interpreter determines that the device cannot complete the action corresponding to the control instruction when the feedback instruction information shows that the device has not performed the action corresponding to the control instruction within a predetermined time.
5. The control system of a production line as claimed in claim 2, wherein the command interpreter is capable of feeding back the feedback command information to its corresponding control subsystem.
6. The control system of claim 5, wherein the control subsystem feeds back the feedback instruction information to the instruction dispatcher.
7. The control system of a production line as claimed in claim 1, wherein the control subsystem is further capable of receiving feedback instruction information of the devices to obtain the status of the respective devices.
8. The system of claim 7, wherein when the status of the device indicates that the device is unable to perform the action corresponding to the control command, the control subsystem is capable of finding other devices of the same type as the device that are idle on the production line to perform the action corresponding to the control command.
9. The control system of a production line of claim 8, wherein the control subsystem is capable of determining that the device cannot complete the action corresponding to the control instruction when the feedback instruction information indicates that the device has not performed the action corresponding to the control instruction within a predetermined time.
10. The control system of the production line according to any one of claims 1 to 9, wherein the instruction dispatcher reads the specification instruction from a database.
11. The control system of the production line as claimed in claim 5 or 7, wherein the instruction dispatcher, the control subsystem and/or the instruction interpreter are capable of receiving feedback instruction information of the respective next level when issuing instructions to the next level thereof to obtain the completion status information of instructions by the next level.
12. The control system of the production line according to any one of claims 1 to 9, wherein the plurality of control subsystems operate in parallel and control the operation of the corresponding devices respectively.
13. A method of controlling a production line, comprising:
an instruction dispatcher acquires a standard instruction;
the instruction dispatcher distributes the canonical instruction to a control subsystem corresponding to the type among a plurality of control subsystems for controlling an action of a corresponding device according to the type of the canonical instruction,
the corresponding control subsystems issue the standard instructions to corresponding instruction interpreters, and the corresponding instruction interpreters interpret the standard instructions into corresponding control instructions for controlling actions of the corresponding equipment, wherein each control subsystem corresponds to each type of equipment one to one, and each instruction interpreter is connected between each control subsystem and each type of equipment.
14. The control method of a production line according to claim 13, wherein the corresponding command interpreter receives feedback command information of the corresponding equipment to obtain status information of the corresponding equipment.
15. The method of claim 14, wherein the corresponding command interpreter searches for other devices of the same type as the corresponding device that are idle on the production line when the status information of the corresponding device indicates that the corresponding device cannot complete the action corresponding to the control command.
16. The control method of a production line according to claim 15, wherein when the feedback instruction information shows that the corresponding equipment has not performed the action corresponding to the control instruction within a predetermined time, the corresponding instruction interpreter determines that the corresponding equipment cannot complete the action corresponding to the control instruction.
17. The method of controlling a production line of claim 14, wherein the corresponding command interpreter feeds back the feedback command information to the corresponding control subsystem.
18. The method of claim 14, wherein the respective control subsystems feed back the feedback instruction information to the instruction dispatcher.
19. The method for controlling a manufacturing line according to claim 12, wherein the corresponding control subsystem further receives feedback instruction information of the corresponding equipment to obtain status information of the corresponding equipment.
20. The method as claimed in claim 19, wherein when the status information of the corresponding device indicates that the corresponding device cannot complete the action corresponding to the control command, the corresponding control subsystem searches for other devices of the same type as the corresponding device that are idle on the production line.
21. The production line control method according to claim 20, wherein when the feedback instruction information indicates that the corresponding equipment has not performed the action corresponding to the control instruction within a predetermined time, the corresponding control subsystem determines that the corresponding equipment cannot complete the action corresponding to the control instruction.
22. The method for controlling a manufacturing line according to claim 19, wherein the corresponding control subsystem further feeds back the received feedback command information of the corresponding equipment to the command dispatcher.
23. The method for controlling a production line according to claim 13, wherein when the instruction dispatcher dispatches the specification instruction to the corresponding control subsystem, feedback instruction information is received from the corresponding control subsystem to acquire status information that the corresponding control subsystem completes the specification instruction.
24. The method for controlling a production line according to claim 14, wherein when the corresponding control subsystem issues the specification command to the corresponding command interpreter, feedback command information is received from the corresponding command interpreter to obtain status information that the corresponding command interpreter completes the specification command.
25. The production line control method as claimed in any one of claims 13 to 24, wherein the instruction dispatcher reads the specification instruction from a database.
26. The production line control method as claimed in claim 18, 22 or 24, wherein the command dispatcher sends the feedback command information to a database for storage.
27. The production line control method according to any one of claims 13 to 24, wherein the plurality of control subsystems operate in parallel and control the operation of the corresponding devices.
28. A computer-readable storage medium to store processor-executable instructions, the processor-executable instructions stored in the computer-readable storage medium, when executed, capable of causing a processor to implement the line control method of any one of claims 13-27.
29. A computer device comprising the computer-readable storage medium of claim 28 and a processor capable of executing processor-executable instructions stored in the computer-readable storage medium.
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| CN111792532B (en) * | 2020-06-24 | 2021-10-22 | 中联重科股份有限公司 | Multi-controller self-adaptive installation method and equipment |
| CN111847248B (en) * | 2020-06-24 | 2021-09-10 | 中联重科股份有限公司 | Controller positioning configuration method and device |
| CN111898908B (en) * | 2020-07-30 | 2023-06-16 | 华中科技大学 | Production line scheduling system and method based on multiple intelligent objects |
| CN112988421A (en) * | 2021-03-16 | 2021-06-18 | 深圳市兴海物联科技有限公司 | Integrated management method and system, electronic device, and computer-readable storage medium |
| CN115156925B (en) * | 2022-07-29 | 2023-05-16 | 中国电子科技集团公司第三十八研究所 | Small-size flexible precision machining production line |
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