CN112987669A - RGV scheduling method based on serial scheduling algorithm - Google Patents
RGV scheduling method based on serial scheduling algorithm Download PDFInfo
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- G05B19/00—Programme-control systems
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- 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]
- G05B19/41865—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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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention discloses an RGV scheduling method based on a serial scheduling algorithm, which comprises an RGV scheduling system and a serial scheduling algorithm, wherein the RGV scheduling system comprises an RGV scheduling interface, and is characterized in that: the serial scheduling algorithm is arranged in an RGV scheduling interface, and the serial scheduling algorithm firstly creates configuration files related to line body layout, RGV tracks and scheduling task priority levels in advance; and then after a pre-configured configuration file is obtained, the allocation operation of the optimal path and the RGV scheduling task is carried out, a corresponding control instruction is generated, and finally the instruction is sent to the RGV to be executed through an RGV interface provided by an equipment manufacturer, so that the plate conveying efficiency when a plurality of RGVs correspond to a plurality of automatic production lines is controlled, and the utilization rate of the RGVs and the flow speed of the plates among all processes are improved.
Description
Technical Field
The invention relates to the technical field of the related field of plate-type home customization production, in particular to an RGV scheduling method based on a serial scheduling algorithm.
Background
In the customization house production trade, all kinds of plates need to circulate between the process of difference in its production process, and between each process node, the plate mainly has following two kinds of modes to carry: 1) manually placing the plates on a roller connecting line to circulate one by one; 2) carrying out stacking, carrying and transferring by using RGV automatic feeding; RGV carries the efficiency that can improve the plate circulation, reduces human resource's input. However, the dispatching system provided by the RGV manufacturer generally only can meet the requirement of single and point-to-point transportation, and does not provide dispatching operation among multiple RVGs, and the physical distance between each working section and each working section in the production field of the panel furniture is long, and because the dispatching of each RGV on the electrical level is independently controlled, the linkage of multiple RGVs cannot be realized, so that the circulation speed of the plate among the working procedures is low, the production efficiency is low, and the transportation efficiency is relatively low, so that improvement is needed.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide an RGV scheduling method based on a serial scheduling algorithm, which can solve the problem of the conveying efficiency among the processes when a plurality of RGVs are simultaneously used for corresponding to a plurality of automatic production lines, so that the circulation speed of plates among the processes is increased, and the production efficiency is improved.
In order to achieve the purpose, the RGV scheduling method based on the serial scheduling algorithm comprises an RGV scheduling system and a serial scheduling algorithm, wherein the RGV scheduling system comprises an RGV scheduling interface, the serial scheduling algorithm is arranged in the RGV scheduling interface, and the serial scheduling algorithm firstly creates configuration files related to the line body layout, the RGV tracks and the priority level of a scheduling task in advance; then after obtaining the configuration file configured in advance, the allocation operation of the optimal path and the RGV scheduling task is carried out, a corresponding control instruction is generated, and finally the instruction is sent to the RGV to be executed through an RGV interface provided by an equipment manufacturer, so that the plate carrying efficiency when a plurality of RGVs correspond to a plurality of automatic production lines is controlled, the utilization rate of the RGV and the flow speed of the plate among all working procedures are improved, and the method specifically comprises the following steps:
s1, creating a configuration file of the periodic scheduling task, and then, mappingly rolling the state to a database
S2, detecting the ground roll state;
s3, judging whether the condition of generating the scheduling task is achieved; if yes, entering the next step; otherwise, return to step S2; the task scheduling conditions described in this embodiment include the following: 1. whether the stack to be conveyed is in place; 2. whether a corresponding RGV device handles an idle state; 3. if the target ground roller line is sent to the target ground roller line, the conveyed stack can be received;
s4, establishing an RGV scheduling task;
s4-1, firstly, a thread program sends a scheduling task request to the system; s4-2, the system analyzes whether the scheduling task request can be completed or not through the stacking condition on each ground rolling line on the line body, and if the scheduling task can be completed by multiple transport paths, the best transport path is selected; s4-3, generating a record of the scheduling task; s4-4, and also generates power trajectory data for the RGV simulation dispatch. ) (ii) a
S5, judging whether the carrying exchange area needs to be entered, if yes, entering the step S6, and if not, entering the step S11;
s6, entering a task scheduling and splitting link, and then entering the next step;
s7, creating a running record of the current RGV for conveying the stack to the carrying exchange area, and then entering the next step;
s8, waiting for the completion of the transmission task of the switching area, and then entering the next step;
s9, informing the RGV of the other area to receive the stack of the exchange area, and then entering the next step;
s10, creating a record of the movement within the RGV active area of another area, and then proceeding to step S12;
s11, creating a motion record in the RGV active area of the current area;
s12, displaying RGV debugging animation simulation live animation or scheduling task playback through the webpage, and playing back the contents of the steps S7, S11 and S12.
Further, the serial scheduling algorithm in the RGV scheduling interface is composed of a configuration file and an RGV scheduling task pool.
Further, the configuration file is stored after configuration in an XML mode, is packaged in a single DLL mode, and is loaded in a production line control system in a plug-in mode.
Further, the serial scheduling algorithm automatically acquires a production task newly generated by the upper system through an RGV scheduling interface provided by the upper system, forms a task pool to be RGV scheduled with the task to be executed currently, and reads an XML configuration file in real time and loads configuration information into a database when a new RGV scheduling task needs to be executed.
According to the RGV scheduling method based on the serial scheduling algorithm, the problem of the conveying efficiency among the working procedures when a plurality of RGVs are used for corresponding to a plurality of automatic production lines at the same time in a plate type home production workshop can be solved, the circulation speed of plates among the working procedures is accelerated, and the production efficiency is improved.
Drawings
Fig. 1 is a schematic flowchart of an RGV scheduling method based on a serial scheduling algorithm in embodiment 1;
FIG. 2 is a diagram showing an RGV scheduling area in embodiment 1;
FIG. 3 is a diagram showing the visual monitoring of RGV scheduling in example 1;
Detailed Description
The invention will be further described with reference to the following examples.
Example 1:
as shown in fig. 1, the RGV scheduling method based on serial scheduling algorithm provided in this embodiment includes an RGV scheduling system and a serial scheduling algorithm, where the RGV scheduling system includes an RGV scheduling interface, and is characterized in that: the serial scheduling algorithm is arranged in an RGV scheduling interface, and the serial scheduling algorithm firstly creates configuration files related to line body layout, RGV tracks and scheduling task priority levels in advance; then after obtaining the configuration file configured in advance, the allocation operation of the optimal path and the RGV scheduling task is carried out, a corresponding control instruction is generated, and finally the instruction is sent to the RGV to be executed through an RGV interface provided by an equipment manufacturer, so that the plate carrying efficiency when a plurality of RGVs correspond to a plurality of automatic production lines is controlled, the utilization rate of the RGV and the flow speed of the plate among all working procedures are improved, and the method specifically comprises the following steps:
s1, creating a configuration file of the periodic scheduling task, and then, mapping and rolling the state of the line to a database; mapping ground scrolling in this embodiment means: because the logic of RGV scheduling is realized in the database storage process, the ground rolling line identification is the state of material stagnation from the PLC equipment, the ground rolling line state needs to be read from the PLC, the state is updated to the table of the database, the information on the PLC can also know what type of plate the ground rolling line is stacked on, so that the database storage process can finish the task scheduling of the RGV according to the condition of the material on the line,
s2, detecting the ground roll state;
s3, judging whether the condition of generating the scheduling task is achieved; if yes, entering the next step; otherwise, return to step S2;
the task scheduling conditions described in this embodiment include the following: 1. whether the stack to be conveyed is in place; 2. whether a corresponding RGV device handles an idle state; 3. if the target ground roller line is sent to the target ground roller line, the conveyed stack can be received;
s4, establishing an RGV scheduling task;
the specific steps of how the RGV schedules the task in this embodiment are as follows:
s4-1, firstly, a thread program sends a scheduling task request to the system; s4-2, the system analyzes whether the scheduling task request can be completed or not through the stacking condition on each ground rolling line on the line body, and if the scheduling task can be completed by multiple transport paths, the best transport path is selected; s4-3, generating a record of the scheduling task; s4-4, and meanwhile, generating power track data of RGV simulation scheduling;
s5, judging whether the carrying exchange area needs to be entered, if yes, entering the step S6, and if not, entering the step S11;
the carrier switching zone in this embodiment refers to: if: two RGVs are arranged on a guide rail, and a moving area is drawn for the two RGVs, and generally one side of each RGV is assigned. But they have an area where the motion overlaps, we refer to the overlapping area of RGV activity as the carrier swap area;
s7, creating a running record of the current RGV for conveying the stack to the carrying exchange area, and then entering the next step;
s8, waiting for the completion of the transmission task of the switching area, and then entering the next step;
s9, informing the RGV of the other area to receive the stack of the exchange area, and then entering the next step;
s10, creating a record of the movement within the RGV active area of another area, and then proceeding to step S12;
s11, creating a motion record in the RGV active area of the current area;
s12, displaying RGV debugging animation simulation live animation or scheduling task playback through the webpage, and playing back the contents of the steps S7, S11 and S12.
The specific determination of the optimal approach described in this example is as follows: because the area to be conveyed may have several piles of plate members of the same type, the material calling area may also have several ground rolling lines to receive the required plate member stacks, so that a many-to-many relationship is formed, and the plurality of arrangement and combination conditions are matched with different conveying paths, so that the analysis needs to be calculated, and whether the path is shortest or not needs to be subjected to RGV transfer to finally evaluate which path is the optimal mode.
Further, the serial scheduling algorithm in the RGV scheduling interface is composed of a configuration file and an RGV scheduling task pool.
Further, the configuration file is stored after configuration in an XML mode, is packaged in a single DLL mode, and is loaded in a production line control system in a plug-in mode.
Further, the serial scheduling algorithm automatically acquires a production task newly generated by the upper system through an RGV scheduling interface provided by the upper system, forms a task pool to be RGV scheduled with the task to be executed currently, and reads an XML configuration file in real time and loads configuration information into a database when a new RGV scheduling task needs to be executed.
In this embodiment, the configuration file is stored after configuration in an XML manner, is packaged in a single DLL manner, and can be loaded in the production line control system in a plug-in manner, and the main implementation functions are as follows:
ground roll line electrical communication arrangement
An RGV electrical communication configuration;
RGV layout configuration:
xml configuration (this configuration is currently saved in a database table tb _ RGV _ area), wherein the configuration items of this file are in one-to-one correspondence with rgv.xml (rgv.xml contains the size information of RGV, the coordinate information of the range of the motion area, the coordinate information of each ground rolling line in the range of the motion area, all of which are the key parameters of the transportation path for calculating the RGV scheduling task);
1. description of task scheduling algorithm
The scheduling algorithm can automatically acquire a production task newly generated by an upper system through an interface provided by the upper system (such as a production management system and an MES), form a task pool to be RGV scheduled by the current task to be executed, and read an XML configuration file in real time and load configuration information into a program when a new RGV scheduling task needs to be executed (wherein the Rgvsetting. XML file is stored in a database). The following use cases for two implementations illustrate how tasks are scheduled (refer to the configuration file above):
the layout is that green is a banding buffer zone _ RGV1 motion zone, purple is a carrying exchange zone, and orange is a banding buffer zone _ RGV2 motion zone;
for example: and (3) finishing scheduling in an RGV motion area: (wherein 101-
As shown in fig. 2, 201 designates material;
judging whether plates of the type are available or not in 101-106, if the plates of the type are available and a plurality of stacks exist, selecting a plate with the closest distance to dispatch by an algorithm (if the plates of the type are available in 101 and 106, the stacks on 101 are carried to 201;
calling "RGV 1" completes this scheduling task.
For example: scheduling which can be completed only by transfer outside an RGV motion area:
201, material calling;
the area currently accessible by "RGV 1" is free of this type of stacking of plates;
found 131-136 (on the active area of RGV2, and on both stacks 131 and 136);
if the plate on 131 is close to 201, the algorithm will control RGV1 to carry the stack of 131 to 201;
however, the RGV2 can not directly reach 201, the plate member of 131 is carried to the nearest exchange area (121-124 are all empty at the moment), and then the plate member is carried to 124;
when the stack is fed over 124, the RGV1 is immediately notified to pick up material from 124;
RGV1 will transfer the stack on 124 to 201 (to preferentially perform transfer tasks within the swap area).
And performing RGV scheduling visual monitoring display through the figure 3.
Therefore, the conveying device can solve the problem of conveying efficiency among the working procedures when a plurality of RGVs correspond to a plurality of automatic production lines are used at the same time in a plate type home production workshop, and the circulation speed of the plate among the working procedures is accelerated, so that the production efficiency is improved.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. An RGV scheduling method based on serial scheduling algorithm, comprising an RGV scheduling system and a serial scheduling algorithm, wherein the RGV scheduling system comprises an RGV scheduling interface, and is characterized in that: the serial scheduling algorithm is arranged in an RGV scheduling interface, and the serial scheduling algorithm firstly creates configuration files related to line body layout, RGV tracks and scheduling task priority levels in advance; then after obtaining the configuration file configured in advance, the allocation operation of the optimal path and the RGV scheduling task is carried out, a corresponding control instruction is generated, and finally the instruction is sent to the RGV to be executed through an RGV interface provided by an equipment manufacturer, so that the plate carrying efficiency when a plurality of RGVs correspond to a plurality of automatic production lines is controlled, the utilization rate of the RGV and the flow speed of the plate among all working procedures are improved, and the method specifically comprises the following steps:
s1, creating a configuration file of the periodic scheduling task, and then, mapping and rolling the state of the line to a database;
s2, detecting the ground roll state;
s3, judging whether the condition of generating the scheduling task is achieved; if yes, entering the next step; otherwise, return to step S2;
s4, establishing an RGV scheduling task;
s5, judging whether the carrying exchange area needs to be entered, if yes, entering the step S6, and if not, entering the step S11;
s6, entering a task scheduling and splitting link, and then entering the next step;
s7, creating a running record of the current RGV for conveying the stack to the carrying exchange area, and then entering the next step;
s8, waiting for the completion of the transmission task of the switching area, and then entering the next step;
s9, informing the RGV of the other area to receive the stack of the exchange area, and then entering the next step;
s10, creating a record of the movement within the RGV active area of another area, and then proceeding to step S12;
s11, creating a motion record in the RGV active area of the current area;
s12, displaying RGV debugging animation simulation live animation or scheduling task playback through the webpage, and playing back the contents of the steps S7, S11 and S12.
2. The RGV scheduling method based on serial scheduling algorithm of claim 1, wherein: the serial scheduling algorithm in the RGV scheduling interface consists of a configuration file and an RGV scheduling task pool.
3. The RGV scheduling method based on serial scheduling algorithm of claim 1, wherein: the configuration file is stored after configuration in an XML mode, is packaged in a single DLL mode, and is loaded in a production line control system in a plug-in mode.
4. The RGV scheduling method based on serial scheduling algorithm of claim 3, characterized in that: the serial scheduling algorithm automatically acquires a newly generated production task of an upper system through an RGV scheduling interface provided by the upper system, forms the task to be executed at present into a task pool to be RGV scheduled, and reads an XML configuration file in real time and loads configuration information into a database when a new RGV scheduling task needs to be executed.
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| WO2022174483A1 (en) * | 2021-02-22 | 2022-08-25 | 广东鑫光智能系统有限公司 | Serial scheduling algorithm-based rgv scheduling method |
| CN115352785A (en) * | 2022-08-18 | 2022-11-18 | 安歌科技(集团)股份有限公司 | Logistics simulation system for carrying annular RGVs |
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