CN110134092A - Rail mounted automatic guide vehicle dynamic dispatching method and system based on harmony search - Google Patents
Rail mounted automatic guide vehicle dynamic dispatching method and system based on harmony search Download PDFInfo
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—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 the transport system
- G05B19/41895—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 the transport system using automatic guided vehicles [AGV]
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Abstract
Present disclose provides a kind of rail mounted automatic guide vehicle dynamic dispatching methods and system based on harmony search, and original state parameter, various machined parameters and the Optimal Parameters of each numerically-controlled machine tool are arranged；There is provided RGV trolley future n times to the harmony vector for being encoded to a length as N of the numerically-controlled machine tool of service, multiple harmony vectors are constructed according to specified harmony vector length and encoding scheme and constitute initial harmony data base, calculate the fitness value of each harmony vector in harmony data base；Randomly value forms a new harmony within the scope of variable-value, or generates a new harmony by selecting harmony in HM and disturbing fine tuning, calculates the fitness value of new harmony；According to the fitness value of new harmony, harmony data base is updated；Judge whether current iteration number reaches maximum number of iterations, if it is a top-quality harmony is selected to be decoded from harmony data base, decoding result is the process that RGV trolley is followed successively by corresponding numerically-controlled machine tool offer service according to the sequence that numerically-controlled machine tool in harmony vector is numbered, and otherwise returns and reformulates new harmony.
Description
Technical field
This disclosure relates to field of intelligent control, and in particular to a kind of rail mounted automatic guide vehicle dynamic based on harmony search
Dispatching method and system.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
Intelligent Production System is usually to be passed by rail mounted automatic guide vehicle, RGV rectilinear orbit, more numerically-controlled machine tools, feeding
The auxiliary devices such as band, blanking conveyer belt are sent to form, different cnc machine tools (Computer Number
Controller, CNC) the different cutter of installation can be according to the automatic control of instruction with the different processes of processing materials, RGV trolley
Moving direction processed and distance, and the included tool (such as mechanical arm, manipulator) to match, can complete corresponding operation and appoint
Business, and these operations require the consumption regular hour.
The dynamic dispatching of RGV trolley is to carry out production plan to production process, coordinate the entire movable core of manufacture system,
Be quickly, low consumption, high texture produce the guarantee of user satisfied products, therefore how to dispatch RGV trolley and make the life of whole system
Efficiency highest is produced, i.e. the material quantity processed in a length of shift is preferably at most the main purpose of Intelligent Production System.It is studying
Occur more and more method for solving during this problem, be broadly divided into exact algorithm and two kinds of approximate algorithm: essence
True algorithm is mainly based upon the traditional mathematics method of operational research, and the solution precision that it is obtained is relatively high, but calculating is more complicated, into
It is slow to change speed, is only suitable for solving that complexity is lower, the lesser dynamic scheduling problem of scale；Approximate algorithm is primarily referred to as
Meta-heuristic algorithm, including ant group algorithm, simulated annealing, tabu search algorithm, genetic algorithm etc., this kind of algorithms are not required to
It to be directed to specific job-shop scheduling problem, but using any one solution as starting point, it is protected by successive ignition and elite
Strategy is stayed to obtain the higher solution of quality.
The existing defect of optimization RGV trolley dynamic dispatching is:
1, meta-heuristic algorithm above convergence rate, evolutionary rate, in terms of advantage cannot
It is ideally embodied in a kind of algorithm, it is also necessary to further this kind of algorithm be improved and make it possible to better solve
RGV dynamic scheduling problem；
2, the production and processing of practical Intelligent Production System is an extremely complex process, can be related to various emergency events,
For example machine breaks down, therefore how to solve the scheduling model of closer actual production using intelligent algorithm is to face at present
A problem；
3, the above meta-heuristic algorithm does not have versatility, it is also necessary to set for specific Job-Shop Scheduling Problem
Meter is specific to solve scheme, this is the main problem for optimizing the dynamic dispatching of RGV trolley and needing to solve.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of rail mounted automatic guide vehicle dynamic tune based on harmony search
Method and system are spent, the disclosure is by improving standard harmonic search algorithm, according to system of processing parameter automatic optimization RGV
Scheduling scheme, and can adaptive CNC random fault and fault recovery, so as to improve the production and processing of Intelligent Production System
Efficiency.
According to some embodiments, the disclosure is adopted the following technical scheme that
A kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search, comprising the following steps:
Original state parameter, various machined parameters and the Optimal Parameters of each numerically-controlled machine tool are set；
There is provided RGV trolley future n times to the harmony vector for being encoded to a length as N of the numerically-controlled machine tool of service,
Multiple harmony vectors are constructed according to specified harmony vector length and encoding scheme and constitute initial harmony data base, calculate harmony note
Recall the fitness value of each harmony vector in library；
Randomly value forms a new harmony within the scope of variable-value, or by selecting harmony in HM and disturbing micro-
It adjusts and generates a new harmony, calculate the fitness value of new harmony；
According to the fitness value of new harmony, harmony data base is updated；
Judge whether current iteration number reaches maximum number of iterations K, one is if it is selected from harmony data base
Top-quality harmony is decoded, the sequence that decoding result, which is RGV trolley, numbers according to numerically-controlled machine tool in harmony vector according to
It is secondary to provide the process of service for corresponding numerically-controlled machine tool, it otherwise returns and reformulates new harmony.
It is limited as further, after a wheel service, judges whether the current system time of RGV trolley is not up to shift
Time is recycled harmonic search algorithm if not up to and optimizes, and otherwise optimization terminates.
It is limited as further, if occurring catastrophic failure in operation, RGV stops movement, and with current number
Control lathe numbering and Ge Tai numerically-controlled machine tool status information as initial information again to next N number of numerically-controlled machine tool number into
Row optimization.
It is limited as further, the process of parameter initialization includes: setting RGV trolley continuous moving not needed for commensurate
The time wanted, RGV are the time that the numerically-controlled machine tool loading and unloading of odd-numbered need, and RGV is the numerically-controlled machine tool of even-numbered or more
Expect the time needed, cleans time required for material, a shift process time TTotal, the Serial Number Range of numerically-controlled machine tool, and
Harmony data base size in sound searching algorithm is HMS, and the probability that a value is generated from harmony data base is HMCR, and fine tuning is general
Rate is PAR, and disturbance step-length is bw, maximum number of iterations K.
It is limited as further, the detailed process for carrying out the coding of harmony vector includes:
(1) the numerically-controlled machine tool number that RGV trolley is currently providing service harmony is added to as first digit to compile
Code in, as with first encoded radio in sound encoder；
(2) the integer x for indicating numerically-controlled machine tool number is randomly generated in Serial Number Range；
(3) if harmony code length reaches N, end-of-encode is successfully generated a harmony, otherwise continues to execute step
(2)；
(4) step (1)-(3) building harmony data base at random is repeated, until the number of harmony reaches HMS, then harmony is remembered
Recall library initialization to finish.
Limited as further, if the detailed process of one new harmony of composition include: newly harmony fitness value it is big
The fitness value of worst harmony in harmony data base, then with this new harmony replace harmony worst in harmony data base from
And realize the update of harmony data base, otherwise remain unchanged.
It is limited as further, specific decoding scheme is as follows:
(a) first coding number x, the number of the digital representation numerically-controlled machine tool are taken from top-quality harmony, RGV is moved
Move at the CNC as needed for its service, obtain RGV trolley system time, if RGV trolley it is current system time it is big
In length of shift TTotal, then terminate；
(b) next bit is taken to encode number x, the number of the digital representation numerically-controlled machine tool from the harmony vector, RGV is moved to
As needed for its service at the numerically-controlled machine tool, the system time of RGV trolley is obtained, if the system time that RGV trolley is current
Greater than length of shift, then terminate；
(c) judge that x is and last position of sound encoder then goes to step (b) and continue to hold if not last position
Row is encoded if it is last position, then the coding is as first when initializing harmony data base next time in each and sound encoder
Coding；Otherwise decoding terminates.
RGV provides service dependent on the state of numerically-controlled machine tool, specifically includes:
(1) if the numerically-controlled machine tool is currently in the state for not processing any material, the process processed according to it is held
The operation of row feeding；
(2) if the numerically-controlled machine tool is currently in the state of process finishing and can process the first procedure,
RGV executes the operation of blanking, then executes the operation of new material again；
(3) if the numerically-controlled machine tool is currently in the state of process finishing and can process second operation work,
RGV executes the quantity that blanking operation needs to record the material completed the process at present later, to calculate the suitable of harmony vector
Answer angle value；
(4) if the numerically-controlled machine tool is currently in the state to work, RGV needs to wait, and at this moment needs comparison etc.
To time TwStart to provide the time T of service with the numerically-controlled machine tool that can be next numbernextWhat if current location waited
Time is shorter, continues waiting for, and moves RGV otherwise as the numerically-controlled machine tool of next number and provides service, and carries out corresponding note
Record.
A kind of rail mounted automatic guide vehicle dynamic scheduling system based on harmony search, comprising:
Setup module is configured as that the original state parameter of each numerically-controlled machine tool, various machined parameters and Optimal Parameters are arranged；
Coding module is configured as the number for the numerically-controlled machine tool that RGV trolley future n times provide service being encoded to one long
Degree is the harmony vector of N, constructs multiple harmony vectors according to specified harmony vector length and encoding scheme and constitutes initial harmony
Data base calculates the fitness value of each harmony vector in harmony data base；
Harmony constructs module, is configured as within the scope of variable-value randomly value and forms a new harmony, or passes through
Harmony is selected in HM and disturbs fine tuning one new harmony of generation, calculates the fitness value of new harmony；
Update module is configured as the fitness value of worst harmony in fitness value and harmony data base according to new harmony
Comparison, is updated harmony data base；
Decoder module is configured as judging whether current iteration number reaches maximum number of iterations K, if it is from harmony
A top-quality harmony is selected to be decoded in data base, decoding result is RGV trolley according to numerical control in harmony vector
The sequence of the number of lathe is followed successively by numerically-controlled machine tool and provides the process of service.
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device
Reason device loads and executes a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search.
A kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；It calculates
Machine readable storage medium storing program for executing for storing a plurality of instruction, described instruction be suitable for load by processor and being executed described one kind be based on
The rail mounted automatic guide vehicle dynamic dispatching method of sonar surveillance system rope.
Compared with prior art, the disclosure has the beneficial effect that
The disclosure considers numerically-controlled machine tool when there is catastrophic failure or restarts optimization process when fault recovery, in this way can be with
Adaptive numerically-controlled machine tool random fault and fault recovery, so that the optimal way be made to be more suitable for actual production operation workshop.
Further, since a system job time is longer, the disclosure takes subsection optimization strategy, and sound encoder length is N, i.e. consideration RGV
It is the efficiency of N number of numerically-controlled machine tool service by different motion tracks.Subsection optimization can simplify, and reduce the optimization time,
Adapt to different process times.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is the flow chart of the disclosure；
Fig. 2 is the Intelligent Machining System simplified diagram of the disclosure；
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As shown in Figure 1, a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search, including following step
It is rapid:
Step 1: original state parameter and the various machined parameters of each CNC of setting, need to be arranged in the present embodiment
Time required for 1 unit of RGV trolley continuous moving, 2 units, 3 units is denoted as t respectively1, t2, t3.RGV is odd number volume
Number CNC loading and unloading need time, RGV be even-numbered CNC loading and unloading need time, clean material required for when
Between, a shift process time is 8 hours；Optimal Parameters are specified before executing harmonic search algorithm, including the volume of CNC
It number is 1~8, setting RGV trolley is located at the numerically-controlled machine tool that number is 1 and 2 when the first suboptimization, determines the state of each CNC；If
Setting the harmony data base size in harmonic search algorithm is HMS, and the probability that a value is generated from harmony data base is HMCR, micro-
Tune probability is PAR, and disturbance step-length is bw, maximum number of iterations K.
Step 2: coding, generates initial harmony data base, and calculate the fitness value of harmony vector.By RGV trolley future
The length that is encoded to that n times provide the numerically-controlled machine tool of service is that N's and sound encoder, HMS harmony of building constitute initial
Harmony data base.Specific encoding scheme is as follows:
Step 2.1: the CNC number that RGV trolley is currently providing service being added to harmony as first digit and is compiled
Code in, as with first encoded radio in sound encoder；
Step 2.2: the integer x for indicating CNC number is randomly generated, since CNC number is 1~8, so the number is
Any one integer in [1,8], that is, but it cannot be identical with previous bit number, then gives up if they are the same, then random production again
Integer in raw one [1,8] numbered as CNC be added to in sound encoder；
Step 2.3: if harmony code length reaches N, end-of-encode is successfully generated a harmony, otherwise continues to hold
Row step 2.2；
It repeats previous step and constructs harmony data base at random, until the number of harmony reaches HMS, then at the beginning of harmony data base
Beginningization finishes.
Step 3: needing to calculate the fitness value of each harmony vector in HM after generating initial harmony data base, fit
Answer the specific calculation method of angle value as follows:
Step 3.1: taking first coding number in harmony vector, the CNC number that digital representation RGV to be serviced, RGV exists
Start to execute the system time operated at the CNC of the number as the time started, is denoted as Ts, and it is locating at present to obtain the CNC
Machining state information；
Step 3.2:RGV is moved to execution corresponding operation at the CNC of the number reference numeral, updates after operation
The system time of RGV needs to record currently if operation is the second operation work of processing materials after completing blanking operation
Through the material total quantity for completing processing；
Step 3.3: if it is not the last one number with sound encoder that RGV trolley, which executes the CNC number operated, continuing
Step 3.2 is executed, if the CNC number for executing operation is last position with sound encoder, corresponding operating has been executed and has obtained later
The time for taking system, it is denoted as Tc, and first variable in harmony vector when the number is as next initial harmony data base
Value；
Step 3.4: the material total quantity that processing is completed within this process time is denoted as num, the fitness of harmony
(fitness) it calculates are as follows: fitness=num/ (Tc-Ts)。
In previous step 3.2, what operation RGV specifically executes will be depending on current CNC state in which:
(1) it if the CNC is currently in the state for not processing any material, is executed according to the process that it can be processed
Feeding operation；
(2) if the CNC is currently in the state of process finishing and can process the first procedure, RGV is held
Then the operation of row blanking executes the operation of new material again；
(3) if the CNC is currently in the state of process finishing and can process second operation work, RGV is held
Row blanking operates and completes cleaning, the quantity for the material that record has completed the process at present, to calculate harmony vector
Fitness value；
(4) if the CNC is currently in the state to work, RGV needs to wait, at this moment need to compare waiting when
Between TwStart to provide the time T of service with the CNC that can be next numbernext, if the time that current location waits is shorter
It continues waiting for, moves RGV otherwise as the CNC of next number and service is provided, and carry out respective record.
Compare waiting time T when CNC is in (4) kind state abovewStart to provide clothes with the CNC for next number
The time T of businessnextWhen, it needs to calculate Tnext, TnextIt relies on RGV and is moved to time t required for next CNC from current CNCm
And the time t waited at next CNCw, t can be found out according to location status function defined belowm:
K in above formula, j ∈ [1,8], k indicate the CNC number that RGV is serviced at present, and j indicates the next of RGV projected service
The number of CNC, t1, t2, t3Respectively indicate required time when RGV 1,2,3 positions of movement.
Step 4: one new harmony vector of creation.By selecting harmony in harmony library, then disturbance fine tuning is produced
A raw new harmony vector.Or a new harmony vector is directly generated according to harmony encoding scheme.Concrete operation step
It is as follows:
Step 4.1: new harmony XnewGeneration process.The random number rand in one [0,1] is generated, if rand <
HMCR then selects a harmony X as newly generated harmony from harmony data base at random；If rand >=HMCR, according to
Encoding scheme generates a new harmony X ', it may be assumed that
Step 4.2: if new harmony XnewFrom harmony data base, then need according to fine tuning probability P AR to and sound encoder carry out
Selectively it is finely adjusted.Harmony encoded radio j previous encoded radio i adjacent thereto is compared one by one, ifThen subsequent encoded radio is finely adjusted by fine tuning step-length bw=3, when the number of fine tuning variable reaches
When to PAR*N, fine tuning operation terminates, and goes to step 4.4；If finely tuning variable number after this wheel does not reach PAR*N
It is a, then it goes to the second wheel of step 4.3 progress and compares fine tuning.
Step 4.3: harmony encoded radio j previous encoded radio i adjacent thereto is compared one by one, if(in the first round fine-tuned mistake is then finely adjusted by fine tuning step-length bw=2 to the latter's variate-value
Variable skip), the variable number of fine tuning reaches PAR*N and then stops, and goes to step 4.4 and continues to execute.
Step 4.4: the fitness value for the harmony newly created is calculated according to the method in step 3.
In above-mentioned steps 4.1, HMCR is arranged to be gradually reduced with the increase of the number of iterations k, HMCR when iteration initial stage
Larger to help to reach local optimum, HMCR takes lesser value population can be made more diversified to jump out office in the iteration later period
Portion is optimal:
In above-mentioned steps 4.2 and step 4.3, PAR is arranged to become larger with the increase of the number of iterations k, so repeatedly
PAR value is smaller when for initial stage, sufficiently scans for part, excavates local information, and the increase of PAR can be accelerated to search when the later period
Suo Sudu expands search range and carries out global search, helps to jump out local optimum:
The concrete operations wherein finely tuned are as follows: assuming that two adjacent encoded radios the former be i, the latter is j, according to following public affairs
Formula is finely adjusted latter position, and the new value of latter position coding is
Step 5: after generating new harmony variable, according in the fitness value of new harmony vector and harmony data base most
The fitness value of poor harmony is updated harmony data base, and specific step is as follows for update:
Step 5.1: the fitness value of worst harmony in the fitness value and harmony data base of newer harmony vector, if
The fitness value of new harmony vector is greater than the fitness value of worst harmony in harmony data base, then with this new harmony to measurement
The update that harmony data base is realized for harmony worst in harmony data base, otherwise remains unchanged；
Step 5.2: judging whether current iteration number reaches maximum number of iterations K, select one from HM if reaching
A top-quality harmony vector is decoded；Otherwise the 4th step is gone to continue to execute.
Step 6: when the number of iterations reaches maximum number of iterations, choose fitness value in harmony data base it is maximum and
Sound vector is decoded, and decoding as RGV trolley is followed successively by CNC according to the sequence that CNC in harmony vector is numbered and provides service
Process, specific decoding scheme are as follows:
Step 6.1: first coding number x, the digital representation CNC number is taken from top-quality harmony, RGV is mobile
To at the CNC as needed for its service, the system time of RGV trolley is then obtained, if the system time that RGV trolley is current
Greater than length of shift TTotal, then terminate；
Step 6.2: taking next bit to encode number x, digital representation CNC number from the harmony vector, RGV is moved to this
As needed for its service at CNC, the system time of RGV trolley is then obtained, if the current system time of RGV trolley is greater than
Length of shift TTotal, then terminate；
Step 6.3: judging that x is and last position of sound encoder then goes to step 6.2 if not last position
It continues to execute, is encoded if it is last position, then when the coding is as initialization harmony data base next time in each and sound encoder
First coding；Go to step 6.4；
Step 6.4: decoding terminates.
It is optimized step 7: harmonic search algorithm segmentation is recycled.After decoding, if RGV trolley is current
System time is not up to length of shift TTotal, then when using the last one CNC of last round of optimization number as next round optimization with
First digit in sound encoder goes to second step and continues to execute.
If there is catastrophic failure during executing operation according to CNC number order in harmony vector in RGV trolley,
RGV stops movement, and using current CNC number and the status information of each CNC as initial information again to next N number of
CNC number optimizes.
After one length of shift, T is sequentially output according to the result of subsection optimizationTotalThe dynamic dispatching of RGV in time
Strategy, providing service according to this scheme schedules RGV trolley for corresponding CNC can make Workshop Production efficiency reach maximum.
In order to verify the validity of technical scheme, carried out below with reference to Intelligent Production System schematic diagram and data excellent
Change:
Fig. 2 is the schematic diagram of an Intelligent Machining System, by 8 cnc machine tools
(ComputerNumberController, CNC), 1 rail mounted automatic guide vehicle (RailGuideVehicle, RGV), 1
The auxiliary devices such as RGV rectilinear orbit, 1 feeding conveyer belt, 1 blanking conveyer belt composition.RGV be it is a kind of it is unmanned, can be
The intelligent vehicle of free-running operation on trapped orbit.It can automatically control moving direction and distance according to instruction, and carry a machinery
Arm, two mechanical paws and material rinse bath can complete the job tasks such as loading and unloading and cleaning material.
Since rail mounted automatic guide vehicle, structure of cnc machine tool etc. are the prior arts, do not do herein excessive
It introduces.
RGV has intelligent control function, and waiting is moved and stopped on rectilinear orbit according to command signal is received or sent,
It can 1 unit of continuous moving (distance between two adjacent C NC), 2 units (distance between three adjacent C NC) and 3 units
(distance between four adjacent C NC).The RGV same time can only execute movement, stop wait, in loading and unloading and washing and cleaning operation one
?.Loading and unloading transmission is all that band is formed by 4 sections, respectively has 1 section before each CNC, is controlled by system sensor, can only be to one
Direction transmission, can interlock, also can self-movement.
Assuming that the material processed in the Intelligent Machining System has a two procedures, first and second operation work are respectively by two
The CNC for installing different cutters is successively completed the process, and cannot replace cutter in process；CNC has 1% in process
Probability may break down, each troubleshooting (artificial treatment, unfinished inventory disposal) time between 10~20 minutes it
Between, job sequence is added after troubleshooting at once.
The optimization that the present embodiment is proposed in conjunction with the production background of Intelligent Machining System above and following system parameter
RGV trolley dynamic dispatching method is verified:
After being optimized based on harmonic search algorithm to RGV trolley dynamic dispatching, the RGV trolley in a length of shift
Specific scheduling process and the fault message of appearance are as follows:
1st group of data correspond to the specifying information in scheduling process:
1st group of data correspond to the fault message in RGV scheduling process:
2nd group of data correspond to the specifying information in scheduling process:
2nd group of data correspond to the fault message in RGV scheduling process:
Pass through the analysis to experimental data above and result, it can be seen that when system parameter is the 1st group of data, a shift
It machined 223 materials in time, the CNC of the first procedure of the CNC processing materials of number 1,3,5, number 2,4,6 adds
The second operation work of work material；System parameter machined 208 materials when being the 2nd group of data, number 1,2,4,5,7,8
First procedure of CNC processing materials, the second operation work of the CNC processing materials of number 3,6.Two in 1st group of system parameter
The processing duration of procedure is similar, and the CNC quantity of distribution is same；Due to second manufacturing procedure in 2nd group of system parameter
Time used in than first manufacturing procedure is short, therefore distributes the CNC negligible amounts of the first procedure of processing, and distribute
CNC quantity and the almost proportional relationship of time used in twice manufacturing procedure, this tallies with the actual situation.Two groups different
System parameter and experimental data illustrate that the algorithm is capable of the random fault and fault recovery of adaptive CNC, and can root
According to system parameter adjust automatically RGV dynamic scheduling scheme, demonstrates and RGV trolley dynamic dispatching side is optimized based on harmonic search algorithm
The validity of method.
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the disclosure
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the disclosure, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The disclosure is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present disclosure
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair
Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search, it is characterized in that: the following steps are included:
Original state parameter, various machined parameters and the Optimal Parameters of each numerically-controlled machine tool are set；
There is provided RGV trolley future n times to the harmony vector for being encoded to a length as N of the numerically-controlled machine tool of service, according to
Specified harmony vector length and encoding scheme construct multiple harmony vectors and constitute initial harmony data base, calculate harmony data base
In each harmony vector fitness value；
Randomly value forms a new harmony within the scope of variable-value, or is produced by selecting harmony in HM and disturbing fine tuning
A raw new harmony, calculates the fitness value of new harmony；
According to the fitness value of new harmony, harmony data base is updated；
Judge whether current iteration number reaches maximum number of iterations, if it is selects a quality most from harmony data base
Good harmony is decoded, and decoding result is that RGV trolley according to the sequence that numerically-controlled machine tool in harmony vector is numbered is followed successively by phase
The numerically-controlled machine tool answered provides the process of service, otherwise returns and reformulates new harmony.
2. a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search as described in claim 1, feature
It is: after a wheel service, judges whether the current system time of RGV trolley is not up to length of shift, recycling if not up to makes
It is optimized with harmonic search algorithm, otherwise optimization terminates；
Or, RGV stops movement, and if occurring catastrophic failure in operation with today's numerical control lathe numbering and each number of units
The status information for controlling lathe again optimizes next N number of numerically-controlled machine tool number as initial information.
3. a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search as described in claim 1, feature
Be: the process of parameter initialization includes: setting RGV trolley continuous moving not time required for commensurate, and RGV is odd-numbered
Numerically-controlled machine tool loading and unloading need time, RGV be even-numbered numerically-controlled machine tool loading and unloading need time, clean material institute
The time needed, a shift process time TTotal, the Serial Number Range of numerically-controlled machine tool, the harmony data base in harmonic search algorithm
Size is HMS, and the probability that a value is generated from harmony data base is HMCR, and fine tuning probability is PAR, and disturbance step-length is bw, most
Big the number of iterations is K.
4. a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search as described in claim 1, feature
Be: the detailed process for carrying out the coding of harmony vector includes:
(1) by RGV trolley currently providing service numerically-controlled machine tool number as first digit be added to in sound encoder,
As with first encoded radio in sound encoder；
(2) the integer x for indicating numerically-controlled machine tool number is randomly generated in Serial Number Range；
(3) if harmony code length reaches N, end-of-encode is successfully generated a harmony, otherwise continues to execute step (2)；
(4) step (1)-(3) building harmony data base at random is repeated, until the number of harmony reaches HMS, then harmony data base
Initialization finishes.
5. a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search as described in claim 1, feature
It is: if the fitness value that the detailed process of one new harmony of composition includes: new harmony is greater than worst harmony in harmony data base
Fitness value, then replace harmony worst in harmony data base to realize harmony data base more with this new harmony
Newly, it otherwise remains unchanged.
6. a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search as described in claim 1, feature
Be: specific decoding scheme is as follows:
(a) first coding number x, the number of the digital representation numerically-controlled machine tool are taken from top-quality harmony, RGV is moved to
As needed for its service at the CNC, the system time of RGV trolley is obtained, if the current system time of RGV trolley is greater than class
Secondary time TTotal, then terminate；
(b) next bit is taken to encode number x, the number of the digital representation numerically-controlled machine tool from the harmony vector, RGV is moved to the number
It controls at lathe as needed for its service, obtains the system time of RGV trolley, if the current system time of RGV trolley is greater than
Length of shift then terminates；
(c) judge that x is and last position of sound encoder then goes to step (b) and continue to execute if not last position,
It is encoded if it is last position, then the coding is as first volume when initializing harmony data base next time in each and sound encoder
Code；Otherwise decoding terminates.
7. a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search as described in claim 1, feature
Be: RGV provides service dependent on the state of numerically-controlled machine tool, specifically includes:
(1) it if the numerically-controlled machine tool is currently in the state for not processing any material, is executed according to the process of its processing
Material operation；
(2) if the numerically-controlled machine tool is currently in the state of process finishing and can process the first procedure, RGV is held
Then the operation of row blanking executes the operation of new material again；
(3) if the numerically-controlled machine tool is currently in the state of process finishing and can process second operation work, RGV is held
Need to record the quantity of the material completed the process at present after row blanking operation, to calculate the fitness of harmony vector
Value；
(4) if the numerically-controlled machine tool is currently in the state to work, RGV needs to wait, and at this moment needs to compare waiting
Time TwStart to provide the time T of service with the numerically-controlled machine tool that can be next numbernextIf the time that current location waits
It is shorter, it continues waiting for, moves RGV otherwise as the numerically-controlled machine tool of next number and service is provided, and carry out respective record.
8. a kind of rail mounted automatic guide vehicle dynamic scheduling system based on harmony search, it is characterized in that: including:
Setup module is configured as that the original state parameter of each numerically-controlled machine tool, various machined parameters and Optimal Parameters are arranged；
Coding module, be configured as the number for the numerically-controlled machine tool that RGV trolley future n times provide service being encoded to a length be
The harmony vector of N constructs multiple harmony vectors according to specified harmony vector length and encoding scheme and constitutes initial and sound memory
Library calculates the fitness value of each harmony vector in harmony data base；
Harmony constructs module, is configured as within the scope of variable-value randomly value and forms a new harmony, or by HM
Middle selection harmony simultaneously disturbs fine tuning one new harmony of generation, calculates the fitness value of new harmony；
Update module is configured as the fitness value pair of worst harmony in fitness value and harmony data base according to new harmony
Than being updated to harmony data base；
Decoder module is configured as judging whether current iteration number reaches maximum number of iterations, if it is from and sound memory
A top-quality harmony is selected to be decoded in library, decoding result is RGV trolley according to numerically-controlled machine tool in harmony vector
Number sequence be followed successively by numerically-controlled machine tool provide service process.
9. a kind of computer readable storage medium, it is characterized in that: being wherein stored with a plurality of instruction, described instruction is suitable for being set by terminal
Standby processor load and perform claim require a kind of rail mounted based on harmony search described in any one of 1-7 to guide automatically
Vehicle dynamic dispatching method.
10. a kind of terminal device, it is characterized in that: including processor and computer readable storage medium, processor is for realizing each
Instruction；Computer readable storage medium is for storing a plurality of instruction, and described instruction is suitable for by processor load and perform claim is wanted
Seek a kind of rail mounted automatic guide vehicle dynamic dispatching method based on harmony search described in any one of 1-7.
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