CN110160845A - Dispatching method, storage medium and the sample-preparing system of coal robot sample-preparing system - Google Patents
Dispatching method, storage medium and the sample-preparing system of coal robot sample-preparing system Download PDFInfo
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- CN110160845A CN110160845A CN201910354825.6A CN201910354825A CN110160845A CN 110160845 A CN110160845 A CN 110160845A CN 201910354825 A CN201910354825 A CN 201910354825A CN 110160845 A CN110160845 A CN 110160845A
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- 239000003245 coal Substances 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000002360 preparation method Methods 0.000 claims abstract description 96
- 239000000843 powder Substances 0.000 claims description 10
- 238000001035 drying Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims 1
- 239000002245 particle Substances 0.000 description 6
- 238000005336 cracking Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000005538 encapsulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/22—Fuels; Explosives
- G01N33/222—Solid fuels, e.g. coal
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- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses the dispatching method of coal robot sample-preparing system, storage medium and sample-preparing system, method includes: that the sample preparation process of coal robot sample-preparing system was divided at least two sample preparation stages according to work pace；For each sample preparation stage, priority is determined for each work pace；And the work pace in each sample preparation process is scheduled according to the priority.With the scheduling scheme that can optimize coal robot sample-preparing system, the advantages that improving sample preparation efficiency, while making sample-preparing system stable operation.
Description
Technical field
The present invention relates to the dispatching method of a kind of coal sample preparation field more particularly to a kind of coal robot sample-preparing system,
Storage medium and sample-preparing system.
Background technique
In the coal samples preparation field such as power plant, steel mill, cement plant.Artificial sample preparation before automatic sample-making system replaces, it is real
Existing sample making course no manual intervention.Robot is introduced into automatic sample-making system, more advances transparence, the intelligence of sample-preparing system
Change and sample preparation improved efficiency.In robot sample-preparing system, exist such as primary sample preparation link, secondary sample preparation link, dry link, system
Powder link.Coal sample transhipment between each link is transported by robot automatically, and in sample preparation operational process, there are raw coal
The dozens ofs sample buckets such as feeding, 6mm coal sample feeding, 3mm coal sample feeding, sample bottle spiral cover or sample bottle carry link.Each scheduling life
All be between order it is independently transmitted non-interference, robot how should respond it is multiple order, without any confusion execute order and guarantee
The maximization of sample preparation efficiency is a urgent problem to be solved, and the scheduling scheme of optimization robot sample-preparing system has important meaning
Justice.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind can optimize the scheduling scheme of coal robot sample-preparing system, improve sample preparation efficiency, while making sample-preparing system stable operation
Dispatching method, storage medium and the sample-preparing system of coal robot sample-preparing system.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows: a kind of tune of coal robot sample-preparing system
The sample preparation process of coal robot sample-preparing system was divided at least two sample preparation stages according to work pace by degree method；For
Each sample preparation stage determines priority for each work pace；And according to the priority in each sample preparation process
Work pace be scheduled.
Further, in the same sample preparation stage, the priority of first work pace is higher than the excellent of posterior work pace
First grade.
Further, within the same sample preparation stage, within the same sample preparation stage, the priority of the work pace includes base
Plinth priority and priority delta, the basis priority are the priority of its junior's work pace, the priority delta root
It is determined according to the execution time of its junior's work pace, and directly proportional to the execution length of time.
Further, when the sample preparation stage not having work pace to be in active state, the prime system in sample preparation stage is improved
The priority of each work pace in the sample stage.
Further, when the sample preparation stage there is no work pace to be in active state, with the of the sample preparation stage
The priority of one work pace determines the priority delta of the last one work pace in its prime sample preparation stage.
Further, the sample preparation stage include: the level-one crushing division stage, the two-stage crushing division stage, drying stage,
Powder stage processed and encapsulated phase.Level-one crushing division stage and two-stage crushing division stage are used to be carried out with sample tentatively broken
Division, but the particle size after cracking of the two is different, and the particle size after cracking in two-stage crushing division stage is smaller.Drying stage be used for sample into
Row drying.The powder stage processed is used for sample broke into the powder sample of smaller particle size.The granularity of powder is preferably 0.2mm granularity.Encapsulation
Stage is used to be sample obtained by each stage, bottles when if necessary to encapsulate.
Further, according to residue is executed the time to the movable work pace and priority is ranked up, and according to
The sequence is scheduled.
A kind of storage medium is stored with the computer program that can be performed, the computer program in the storage medium
It is performed and as above described in any item dispatching methods can be achieved.
A kind of coal robot sample-preparing system, including storage medium as described above.
Compared with the prior art, the advantages of the present invention are as follows:
1, sample preparation process is divided into the sample preparation stage by the present invention, and determines the priority of each work pace respectively according to the stage processed,
Coal robot is scheduled according to the priority；Further, by the priority of each work pace according to work pace
The required execution time determines, the time it is longer work pace priority it is higher, thus when guaranteeing to need in sample making course
Between longest key job beat preferentially executed, to improve the sample preparation efficiency of robot.
2, for the present invention when some sample preparation stage not having work pace to be in active state, i.e., the sample preparation stage is in the free time
When state, the priority in its prime sample preparation stage is improved, to guarantee that the work pace in its prime sample preparation stage is preferentially handled,
So that the current sample preparation stage can run as early as possible, to improve sample preparation efficiency.
3, the present invention sorts movable work pace according to the residue execution time from short to long, is meeting this sort criteria
Under the premise of, it is ranked up from high to low according still further to priority, to only need to read in the sequence in primary work
Beat is scheduled the work pace when the work pace executes completion, goes to the subsequent work for executing the work pace
The work pace is removed the sequence, and the subsequent work beat of the work pace is moved into the sequence by beat, can quickly,
It is efficiently completed the traffic control to entire robot sample-preparing system, it is reliable and stable.
Detailed description of the invention
Fig. 1 is the flow diagram of the specific embodiment of the invention.
Fig. 2 is the sample preparation stage of the specific embodiment of the invention, work pace schematic diagram.
Specific embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
As shown in Figure 1, the dispatching method of the coal robot sample-preparing system of the present embodiment, according to work pace by coal machine
The sample preparation process of device people's sample-preparing system was divided at least two sample preparation stages；It is each work pace for each sample preparation stage
Determine priority；And the work pace in each sample preparation process is scheduled according to priority.In the same sample preparation stage, formerly
The priority of work pace is higher than the priority of posterior work pace.Within the same sample preparation stage, the work pace it is excellent
First grade includes basic priority and priority delta, and the basis priority is the priority of its junior's work pace, described excellent
First grade increment is determining according to the execution time of its junior's work pace, and directly proportional to the execution length of time.
As shown in Fig. 2, the sample preparation process of the coal robot sample-preparing system of the present embodiment is divided into four sample preparation stages,
Each stage includes several work paces again, and if the work pace in sample preparation stage one includes P1, P2, P3, work pace P1 is this
The first job beat in sample preparation stage, work pace P3 are the last one work pace in this sample preparation stage, work pace P1
For the prime work pace for the P2 that works, work pace P2 is that junior's work pace of work pace P1 can according to same principle
To determine the relationship of each work pace in other sample preparation stages in the present embodiment.Meanwhile the sample preparation stage one is the sample preparation stage two
Prime sample preparation stage, sample preparation stage two are junior's sample preparation stage in sample preparation stage one.
In the present embodiment, each work pace needs certain execution time, is located at below work pace in Fig. 2 and is marked
The number of note is that the time is executed required for work pace, if the execution time of work pace P1 is 1 minute, work pace P2
The execution time be 2 minutes, execution time of work pace P3 is 1 minute.In the present embodiment, preferably directly with work pace
Execution duration determine priority, to facilitate explanation and calculating.Such as in the sample preparation stage one, for work pace P3, due to
It does not have junior's work pace, then defining its junior's work pace priority is 0, and executing the time is 0, then work pace P3
Priority be 0, and for work pace P2, since the execution time of its junior work pace P3 is 1, i.e. its priority delta
It is 1, the priority of work pace P3 is the basic priority of work pace P2, then the priority of work pace P2 is 1+0=1,
Same reason can determine that the priority of work pace P1 is 1+2=3.Similarly, the section that respectively works in the present embodiment can be determined
The priority of bat is as shown in Figure 2.In this way, it is ensured that execute time longest work section in entire sample preparation process
Bat (work pace i.e. before the key beat) has before clapping the work that (i.e. crucial beat) and the key beat are relied on
High priority can be executed as soon as possible, to improve the efficiency of sample preparation.In Fig. 2, in the sample preparation process of the present embodiment
In, while being in active state there are four work pace (P2, P5, P8, P14), i.e., four work paces are being performed, when
The work pace being in active state is performed when finishing, and robot needs to be implemented movement, will be located in the corresponding sample preparation stage current
Sample bottle, sample bucket of work pace station etc. are sent to next station, to start subsequent work beat, due to robot only one
Manipulator finishes when the work at present beat in two or more sample preparation stages is carried out, robot is needed to execute movement
When, which movement Robot Selection executes, so that the work pace in which sample preparation stage starts to execute at first, it will influence whole
The efficiency of a sample-preparing system.In the present embodiment, after by the determination of above-mentioned priority, when 4 movable work sections in such as Fig. 2
When bat is completed at the same time, according to the difference of its priority, robot is preferentially to the work pace of highest priority, i.e. work pace P8
It is handled, then successively the movement of execution work pace P14, P5 and P2 may make and need in sample preparation process through the above scheme
Time longest key job beat and critical path (path in sample preparation stage locating for key job beat) can execute as early as possible,
To improve the sample preparation efficiency of sample-preparing system.
In the present embodiment, according to residue is executed the time to movable work pace and priority is ranked up, and according to
The sequence is scheduled.Movable work pace is preferentially stored by modes such as dynamic link table or arrays, is recorded its residue and is held
Row time and priority.The residue execution time refers to that the execution time of work pace subtracts the time that the work pace has executed.Its
The concrete mode of sequence is first to execute the time from as low as sorting greatly according to residue, meet the sequence on the basis of, according still further to
The priority of work pace sorts.By this sortord, so that being to have executed earliest in primary work pace
At the work pace for needing robot execution to act.In the present embodiment, when some work pace is finished, i.e., remaining
Executing the time is zero, movement is executed in robot, so that its junior's work pace is performed, by the work pace from sequence
It deletes, and junior's work pace is added in the sequence, therefore, robot only needs to monitor the sequence, so that it may is convenient
Progress work pace scheduling.
In the present embodiment, it is preferable that when the sample preparation stage there is no work pace to be in active state, improve the sample preparation stage
The prime sample preparation stage in each work pace priority.Further preferably, work pace is not had to be in activity when the sample preparation stage
When state, the last one work pace in its prime sample preparation stage is determined with the priority of the first job beat in sample preparation stage
Priority delta.As shown in Figure 2, after the completion of the last one work pace executes in the sample preparation stage two, this sample preparation stage
It is in active state without work pace, therefore, it is desirable to wait work pace P3 in prime sample preparation stage (sample preparation stage one)
Completion, just can enter the execution of work pace P4.I.e. when there is no work pace to be in active state in the sample preparation stage two, repair
The priority of each work pace in the sample stage one is restructured, i.e. the priority modification of work pace P3 is 5, and work pace P2's is preferential
Grade is revised as 6, and the priority modification of work pace P1 is 8.In order to reduce the waiting time, the present embodiment uses the prime system of raising
The strategy of the priority in sample stage (sample preparation stage one), enables each work pace in sample preparation stage one to obtain priority scheduling,
So as to start the execution of work section folding P4 as soon as possible.
In the present embodiment, the sample preparation stage preferably divides as follows, i.e. the sample preparation stage includes: level-one crushing division
Stage, two-stage crushing division stage, drying stage, powder stage processed and encapsulated phase.Level-one crushing division stage and two-stage crushing
The division stage is used to carry out preliminary crushing division with sample, but the particle size after cracking of the two is different, the two-stage crushing division stage
Particle size after cracking is smaller.Drying stage is for being dried sample.The powder stage processed is used for sample broke into the powder of smaller particle size
Sample.The granularity of powder is preferably 0.2mm granularity.Encapsulated phase is used to be sample obtained by each stage, when if necessary to encapsulate
It bottles.
In the present embodiment, each work pace inside each sample preparation stage be sequence execute relationship, the different sample preparation stages it
Between can according to need combination execution relationship.Such as the sample obtained in level-one crushing division stage, encapsulation can be sent directly into
Stage carries out bottling encapsulation, can also be sent to the progress two-stage crushing division of two-stage crushing division stage.Between each sample preparation stage
Ordinal relation according to sampling demand and flexible setting.
The storage medium of the present embodiment is stored with the computer program that can be performed, computer program quilt in storage medium
Dispatching method any one of as above can be realized when execution.
The coal robot sample-preparing system of the present embodiment, including storage medium as above.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (9)
1. a kind of dispatching method of coal robot sample-preparing system, it is characterised in that: according to work pace by coal robot system
The sample preparation process of sample system was divided at least two sample preparation stages；It is that each work pace is true for each sample preparation stage
Determine priority；And the work pace in each sample preparation process is scheduled according to the priority.
2. the dispatching method of coal robot according to claim 1 sample-preparing system, it is characterised in that: in same sample preparation rank
Section, the priority of first work pace are higher than the priority of posterior work pace.
3. the dispatching method of coal robot according to claim 2 sample-preparing system, it is characterised in that: in same sample preparation rank
In section, the priority of the work pace includes basic priority and priority delta, and the basis priority is its junior's work
Make the priority of beat, the priority delta is determined according to the execution time of its junior's work pace, and when with the execution
Between length it is directly proportional.
4. the dispatching method of coal robot according to claim 3 sample-preparing system, it is characterised in that: when the sample preparation rank
Section is without work pace when being in active state, and improves the preferential of each work pace in the prime sample preparation stage in sample preparation stage
Grade.
5. the dispatching method of coal robot according to claim 4 sample-preparing system, it is characterised in that: when the sample preparation rank
When section is in active state without work pace, its prime is determined with the priority of the first job beat in the sample preparation stage
The priority delta of the last one work pace in the sample preparation stage.
6. the dispatching method of coal robot according to any one of claims 1 to 5 sample-preparing system, it is characterised in that: institute
Stating the sample preparation stage includes: a grade crushing division stage, two-stage crushing division stage, drying stage, powder stage processed and encapsulated phase.
7. the dispatching method of coal robot according to any one of claims 1 to 5 sample-preparing system, it is characterised in that: right
The movable work pace executes the time according to residue and priority is ranked up, and is scheduled according to the sequence.
8. a kind of storage medium, the computer program that can be performed is stored in the storage medium, it is characterised in that: the meter
Calculation machine program, which is performed, can be achieved dispatching method as described in any one of claim 1 to 7.
9. a kind of coal robot sample-preparing system, it is characterised in that: including storage medium as claimed in claim 8.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112836847A (en) * | 2020-12-14 | 2021-05-25 | 镇江市瑞志机器人技术有限公司 | Quality-driven robot intelligent sample preparation execution control method |
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| CN110160845B (en) | 2022-06-14 |
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