CN113052481A - Same-process multi-equipment cooperative control method and system - Google Patents
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Abstract
The invention relates to a method and a system for cooperative control of multiple devices in the same process, wherein the method comprises the following steps: the working procedures correspond to the processing equipment one by one, and a product transfer request of the processing equipment is obtained; generating a task to be executed based on the product transfer request; a task to be executed is acquired and assigned to a transition device in an idle state. Compared with the prior art, the product transfer request of the processing equipment is monitored in real time, the task to be executed is generated when one equipment has a waiting loading request and the previous equipment has a waiting unloading request, and if the task to be executed and the idle state transfer device exist, the task to be executed is allocated to the transfer device.
Description
Technical Field
The invention relates to the field of control, in particular to a same-process multi-device cooperative control method and system.
Background
With the development of automation technology, automation production equipment and automation control methods are increasingly used in the field of plate roller production, and the labor cost is reduced. In the production process of the plate roller, a plurality of processes such as rough and fine processing, coding, grinding and the like are often required, and after one process is completed in an upstream device, the product can be transferred to a downstream device by a transfer device for the next process. When the production scale is small, only one device is arranged in each process, the transfer device only needs to judge the states of the upstream device and the downstream device, and when the upstream device is in a blanking waiting state and the downstream device is in a loading waiting state, the product can be automatically transferred. However, in order to improve the working efficiency, when the current printing roller is produced, a plurality of identical devices are often arranged in each process to work simultaneously, such as 3 rough and fine processing machines, 4 grinding machines and the like, and in consideration of the cost problem, the number of the transfer devices is limited, the transfer devices are often required to be manually controlled to transfer products, so that the labor cost is increased, errors are easy to occur, the devices are in a feeding waiting state or a discharging waiting state for a long time, and the production efficiency is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a system for cooperatively controlling multiple devices in the same process, which are used for monitoring the product transfer request of a processing device in real time, generating a task to be executed when one device has a waiting material loading request and the previous device has a waiting material unloading request, and distributing the task to be executed to a transfer device if the transfer device has the task to be executed and an idle state.
The purpose of the invention can be realized by the following technical scheme:
a same-process multi-equipment cooperative control method comprises the following steps:
s1: the N procedures (N >0) are in one-to-one correspondence with the N types of processing equipment, and the equipment number of each processing equipment, the raw material bin number of each raw material bin and the finished product bin number of each finished product bin are respectively obtained; the number of the raw material bins is at least 1, the number of the finished product bins is at least 1, the number of each processing device is at least 1, the 1 st processing device is used for completing the 1 st procedure, the 2 nd processing device is used for completing the 2 nd procedure, …, and the Nth processing device is used for completing the Nth procedure;
s2: obtaining product transfer requests of all processing equipment, wherein the product transfer requests are divided into a feeding waiting request and a discharging waiting request;
s3: if a waiting loading request of the 1 st type processing equipment exists, or a waiting unloading request of the Nth type processing equipment exists, or a waiting unloading request of the i-1 th type processing equipment and a waiting loading request of the ith type (N is more than or equal to i and more than or equal to 2) processing equipment exist at the same time, generating a task to be executed;
s4: and allocating the task to be executed to the transfer device in the idle state, and repeating the step S2 until the production is finished.
Further, in step S2, the product transfer request includes a request time, a request type and a device number, the request type includes waiting for loading and waiting for unloading, and the device number is the device number of the processing device that initiated the product transfer request.
Further, in step S3, the specific step of generating the task to be executed is:
if the waiting loading requests of the 1 st type of processing equipment exist, generating tasks to be executed respectively based on the waiting loading requests, wherein the serial number of a starting point device of the tasks to be executed is the serial number of a raw material bin, and the serial number of an end point device of the processing equipment waiting for the loading requests is the serial number of the processing equipment;
if the blanking waiting requests of the Nth type of processing equipment exist, generating tasks to be executed respectively based on the blanking waiting requests, wherein the serial number of the starting point equipment of the tasks to be executed is the serial number of the processing equipment waiting for the blanking requests, and the serial number of the end point equipment is the serial number of a finished product bin;
if the blanking waiting request of the i-1 processing equipment and the loading waiting request of the i-th (N is more than or equal to i and more than or equal to 2) processing equipment exist at the same time, k tasks to be executed are generated based on the k blanking waiting requests with the earliest request time and the k loading waiting requests with the earliest request time, k is min (k1, k2), k1 is the number of the blanking waiting requests, k2 is the number of the loading waiting requests, the starting equipment number of the tasks to be executed is the equipment number of the processing equipment waiting for the blanking request in the transfer request, and the ending equipment number is the equipment number of the processing equipment waiting for the loading request in the transfer request.
Further, in step S3, the generated to-be-executed task further includes a task initiation time; a task to be executed, which is obtained based on the material loading waiting request of the 1 st type processing equipment, takes the request time of the material loading waiting request as task initiating time; a task to be executed, which is obtained based on the blanking waiting request of the Nth type of processing equipment, takes the request time of the blanking waiting request as task initiation time; and the task to be executed is obtained based on the blanking waiting request of the i-1 processing equipment and the loading waiting request of the i-1 processing equipment, and the earlier request time in the blanking request and the loading waiting request is taken as the task initiating time.
Further, the transfer devices described in step S4 are provided with M kinds (M >0), and the number of each transfer device is at least 1; the task to be executed by the 1 st transfer device is denoted as the 1 st task, the task to be executed by the 2 nd transfer device is denoted as the 2 nd task, …, and the task to be executed by the mth transfer device is denoted as the mth task.
Furthermore, a plurality of tasks to be executed belonging to the jth task (M is more than or equal to j and more than or equal to 1) are distributed to the transfer device in the idle state by taking the task initiation time, the starting point equipment number and the preset task priority as the sequence; the task to be executed is distributed to the transfer device in the idle state by taking the height of the priority as the sequence, the task to be executed with the same priority is distributed to the transfer device in the idle state by taking the sequence of the task initiating time as the sequence, and the task to be executed with the same priority and the same task initiating time is distributed to the transfer device in the idle state by taking the starting point equipment number as the sequence.
Further, the preset task priorities are as follows: the priority of the task to be executed obtained based on the waiting feeding request of the 1 st type of processing equipment is the highest, the priority of the task to be executed obtained based on the waiting discharging request of the Nth type of processing equipment is the medium, and the priority of the rest tasks to be executed is the lowest.
Further, the transferring device in step S4 is provided with M kinds, M >1, and step S4 includes the following steps:
s41: acquiring all tasks to be executed, if the tasks to be executed do not exist, executing the step S2, otherwise, executing the step S42;
s42: if j tasks exist in the tasks to be executed and j transition devices in idle states exist, 1 j tasks are acquired and distributed to 1 j transition device in idle states, the state of the j transition device is updated to be material, and the step S41 is repeated.
Further, the transfer device in step S4 is provided with M types, where M is 1, and the transfer device is a general transfer device, and the general transfer device is used for completing all tasks to be executed; step S4 includes the following steps:
s41: acquiring all tasks to be executed, if the tasks to be executed do not exist, executing the step S2, otherwise, executing the step S42;
s42: checking the state of the general purpose transfer device, if there is a general purpose transfer device whose state is idle, acquiring 1 task to be executed and allocating it to 1 general purpose transfer device whose state is idle, updating the state of the general purpose transfer device to be material, and repeating step S41.
A same-process multi-equipment cooperative control system comprises: the device comprises a control unit, a raw material bin, a finished product bin, M transfer devices and N processing devices;
the number of each processing device is at least 1, the 1 st processing device is used for completing the 1 st procedure, the 2 nd processing device is used for completing the 2 nd procedure, …, and the Nth processing device is used for completing the Nth procedure; each processing device is communicated and respectively connected with the control unit, and sends a product transfer request to the control unit;
the control unit generates a task to be executed based on the product transfer request;
the transfer device is in communication connection with the control unit, and receives and executes the task to be executed sent by the control unit.
Compared with the prior art, the invention has the following beneficial effects:
(1) the product transfer request of the processing equipment is monitored in real time, a task to be executed is generated when a waiting material loading request exists in one equipment and a waiting material unloading request exists in the previous equipment, if a transfer device of the task to be executed and an idle state exists, the task to be executed is distributed to the transfer device, the idea of pull type requirement is adopted, the automation degree is high, the transfer device does not need to be dispatched manually, the labor cost is reduced, the error rate is low, the processing equipment is prevented from being in the waiting material loading state or the waiting material unloading state for a long time, material accumulation is avoided, and the production efficiency is improved.
(2) The priority of waiting to carry out the task and the order of allotting to transfer equipment have been set up, preferentially carry out the material loading of the 1 st kind of processing equipment and the unloading of the N kind of processing equipment, can guarantee the flow speed of product on the production line, avoid processing equipment to wait for the material loading for a long time or wait for the unloading, have promoted production efficiency.
(3) The method has the advantages that various transfer devices are arranged, the scheduling of the transfer devices of different types is not related, the tasks to be executed corresponding to the transfer devices are checked according to the types of the transfer devices, the 1 st task can be executed after the idle 1 st transfer device is detected, the Mth task can be executed after the idle Mth transfer device is detected, the error rate is reduced, and the product transfer efficiency is higher.
Drawings
FIG. 1 is a flowchart of a method for cooperative control of multiple devices in the same process in an embodiment.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1:
a same-process multi-equipment cooperative control method comprises the following steps:
s1: the N procedures (N >0) are in one-to-one correspondence with the N types of processing equipment, and the equipment number of each processing equipment, the raw material bin number of each raw material bin and the finished product bin number of each finished product bin are respectively obtained; the number of the raw material bins is at least 1, the number of the finished product bins is at least 1, the number of each processing device is at least 1, the 1 st processing device is used for completing the 1 st procedure, the 2 nd processing device is used for completing the 2 nd procedure, …, and the Nth processing device is used for completing the Nth procedure;
s2: acquiring product transfer requests of all processing equipment, wherein the product transfer requests are divided into a waiting feeding request and a waiting discharging request; the product transfer request comprises request time, request types and equipment numbers, the request types comprise waiting for feeding and waiting for discharging, and the equipment numbers are the equipment numbers of the processing equipment initiating the product transfer request.
S3: if a waiting loading request of the 1 st type processing equipment exists, or a waiting unloading request of the Nth type processing equipment exists, or a waiting unloading request of the i-1 th type processing equipment and a waiting loading request of the ith type (N is more than or equal to i and more than or equal to 2) processing equipment exist at the same time, generating a task to be executed;
the specific steps for generating the tasks to be executed are as follows:
if the waiting loading requests of the 1 st type of processing equipment exist, generating tasks to be executed respectively based on the waiting loading requests, wherein the serial number of a starting point device of the tasks to be executed is the serial number of a raw material bin, and the serial number of an end point device of the processing equipment waiting for the loading requests is the serial number of the processing equipment;
if the blanking waiting requests of the Nth type of processing equipment exist, generating tasks to be executed respectively based on the blanking waiting requests, wherein the serial number of the starting point equipment of the tasks to be executed is the serial number of the processing equipment waiting for the blanking requests, and the serial number of the end point equipment is the serial number of a finished product bin;
if the blanking waiting request of the i-1 processing equipment and the loading waiting request of the i-th (N is more than or equal to i and more than or equal to 2) processing equipment exist at the same time, k tasks to be executed are generated based on the k blanking waiting requests with the earliest request time and the k loading waiting requests with the earliest request time, k is min (k1, k2), k1 is the number of the blanking waiting requests, k2 is the number of the loading waiting requests, the starting equipment number of the tasks to be executed is the equipment number of the processing equipment waiting for the blanking request in the transfer request, and the ending equipment number is the equipment number of the processing equipment waiting for the loading request in the transfer request. When the tasks to be executed are generated, the waiting time of each processing device is considered, the k blanking waiting requests with the earliest request time and the k loading waiting requests with the earliest request time are selected to generate the k tasks to be executed, so that the processing device which initiates the request can be met first, the condition that a certain processing device waits for a long time is avoided, and the average production efficiency of products on the whole production line is improved.
In step S3, the generated task to be executed further includes a task initiation time; a task to be executed, which is obtained based on the material loading waiting request of the 1 st type processing equipment, takes the request time of the material loading waiting request as task initiating time; a task to be executed, which is obtained based on the blanking waiting request of the Nth type of processing equipment, takes the request time of the blanking waiting request as task initiation time; and the task to be executed is obtained based on the blanking waiting request of the i-1 processing equipment and the loading waiting request of the i-1 processing equipment, and the earlier request time in the blanking request and the loading waiting request is taken as the task initiating time.
S4: and allocating the task to be executed to the transfer device in the idle state, and repeating the step S2 until the production is finished.
The transfer devices in step S4 are provided with M kinds (M >0), the number of each transfer device being at least 1; the task to be executed by the 1 st transfer device is denoted as the 1 st task, the task to be executed by the 2 nd transfer device is denoted as the 2 nd task, …, and the task to be executed by the mth transfer device is denoted as the mth task.
A plurality of tasks to be executed belonging to the jth (M is more than or equal to j and more than or equal to 1) task are distributed to the transfer device in the idle state by taking the task initiation time, the starting point equipment number and the preset task priority as the sequence. The tasks to be executed are firstly distributed to the transfer devices in the idle state by taking the high and low priorities as the sequence, the tasks to be executed with the same priority are distributed to the transfer devices in the idle state by taking the sequence of the task initiating time as the sequence, and the tasks to be executed with the same priority and the same task initiating time are distributed to the transfer devices in the idle state by taking the starting point equipment number as the sequence.
The preset task priorities are as follows: the priority of the task to be executed obtained based on the waiting feeding request of the 1 st type of processing equipment is the highest, the priority of the task to be executed obtained based on the waiting discharging request of the Nth type of processing equipment is the medium, and the priority of the rest tasks to be executed is the lowest.
A same-process multi-equipment cooperative control system comprises: the device comprises a control unit, a raw material bin, a finished product bin, M transfer devices and N processing devices;
the number of each processing device is at least 1, the 1 st processing device is used for completing the 1 st procedure, the 2 nd processing device is used for completing the 2 nd procedure, …, and the Nth processing device is used for completing the Nth procedure; each processing device is communicated and respectively connected with the control unit, and sends a product transfer request to the control unit;
the control unit generates a task to be executed based on the product transfer request;
the transfer device is in communication connection with the control unit, and receives and executes the task to be executed sent by the control unit.
In this embodiment, taking a production line of a plate roll as an example, N is 3, that is, there are 3 types of processing equipment, including 3 rough and fine integrated machines, and the equipment numbers are: { coarse and fine 1, coarse and fine 2, coarse and fine 3}, 1 coding machine, equipment number is: { code 1}, 3 grinders, equipment number is: { grinding 1, grinding 2 and grinding 3}, the number of the raw material bins and the number of the finished product bins are both 1, and the printing roller starts from the raw material bins, sequentially passes through a rough and finish machining process, a coding process and a grinding process and enters the finished product bins.
To facilitate monitoring of product transfer requests, N +1 request tables initialized to empty and 1 task table initialized to empty may be set. The 1 st request table stores the waiting loading request of the 1 st processing equipment, the N +1 th request table stores the waiting unloading request of the N processing equipment, and the ith (N is more than or equal to i and more than or equal to 2) request table stores the waiting unloading request of the i-1 th processing equipment and the waiting loading request of the i-th processing equipment. And storing the tasks to be executed in the task table.
Monitoring a request table in real time, generating a task to be executed based on the request table and putting the task into a task table; and monitoring the task table in real time, and if the task to be executed exists in the task table and the transfer device required by the task to be executed is idle, distributing the task to be executed to the transfer device.
In the production process, the rough and fine integrated machine, the coding machine and the grinding machine send out a product transfer request according to the state of the rough and fine integrated machine, the product transfer request comprises a waiting feeding request and a waiting discharging request, 4 request tables are generated in total, the 1 st request table stores the waiting feeding request of the rough and fine integrated machine, the 2 nd request table stores the waiting discharging request of the rough and fine integrated machine and the waiting feeding request of the coding machine, the 3 rd request table stores the waiting discharging request of the coding machine and the waiting feeding request of the grinding machine, and the 4 th request table stores the waiting discharging request of the grinding machine.
In step S3, tasks to be executed are generated according to the product transfer requests in the request tables, respectively. The upstream of the first processing device is a raw material bin, the downstream of the Nth processing device is a finished product bin, the i-1 th processing device is the upstream of the i-th processing device, and the i-1 th processing device is the downstream of the i-1 th processing device. Therefore, if the first processing equipment has a request for waiting for feeding or the Nth processing equipment has a request for waiting for discharging, a task to be executed is generated; if 1 waiting loading request initiated by coarse-fine 1 is stored in the 1 st request table, 1 task to be executed is generated, and the 4 th request table is empty, so that the task to be executed cannot be generated. In addition to the 1 st processing device and the nth processing device, the waiting loading request of the downstream processing device needs to consider whether the upstream processing device sends a waiting unloading request, and the waiting downstream request of the upstream processing device needs to consider whether the downstream processing device sends a waiting loading request, so that if the (i-1) th processing device sends a waiting unloading request, the ith device sends a waiting loading request, that is, the waiting unloading request and the waiting loading request exist in the ith request table at the same time, a task to be executed is generated. If 1 blanking waiting request initiated by the coarse-fine 3 is stored in the 2 nd request table, a task to be executed cannot be generated; the 3 rd request table stores 1 feeding waiting request initiated by grinding 1 and 1 discharging waiting request initiated by coding 1, and then 1 task to be executed is generated.
The generated task to be executed also comprises task initiation time; a task to be executed, which is obtained based on the material loading waiting request of the 1 st type processing equipment, takes the request time of the material loading waiting request as task initiating time; a task to be executed, which is obtained based on the blanking waiting request of the Nth type of processing equipment, takes the request time of the blanking waiting request as task initiation time; and the task to be executed is obtained based on the blanking waiting request of the i-1 processing equipment and the loading waiting request of the i-1 processing equipment, and the earlier request time in the blanking request and the loading waiting request is taken as the task initiating time.
The method comprises the following steps that M (M >0) types of transfer devices are arranged, the number of each type of transfer device is at least 1, and one type of transfer device is used for completing tasks to be executed generated by one request table or tasks to be executed generated by a plurality of request tables; the task to be executed by the 1 st transfer device is denoted as the 1 st task, the task to be executed by the 2 nd transfer device is denoted as the 2 nd task, …, and the task to be executed by the mth transfer device is denoted as the mth task.
A plurality of tasks to be executed belonging to the jth (M is more than or equal to j and more than or equal to 1) task are distributed to the transfer device in the idle state by taking the task initiation time, the starting point equipment number and the preset task priority as the sequence. The task to be executed is distributed to the transfer device in the idle state by taking the height of the priority as the sequence, the task to be executed with the same priority is distributed to the transfer device in the idle state by taking the sequence of the task initiating time as the sequence, and the task to be executed with the same priority and the same task initiating time is distributed to the transfer device in the idle state by taking the starting point equipment number as the sequence. In other embodiments, other sorting manners may be adopted to allocate the tasks to be executed to the idle transfer devices, such as sorting according to the starting device number only.
The preset task priorities are as follows: the task to be executed obtained based on the feeding waiting request of the 1 st type processing equipment has the highest priority (the task to be executed generated by the 1 st request table), the task to be executed obtained based on the feeding waiting request of the N type processing equipment has the medium priority (the task to be executed generated by the (N + 1) th request table), and the rest tasks to be executed have the lowest priority (the task to be executed generated by the rest (N-1) request tables). In other manners, the priority of the tasks to be executed generated by each request table may be set according to the production needs, for example, the priority may be set according to the processing speed of the processing equipment, the distance between the processing equipments, and the like.
In this embodiment, the tasks to be executed are sorted in the task table according to the task initiation time, the starting point device number, and the preset task priority, and the task table is divided into M subtask tables, and each subtask table stores one task, so that the tasks to be executed can be subsequently allocated to the idle transfer device according to the sorting of the tasks to be executed in the task table.
In this embodiment, 2 transfer devices are provided, the 1 st is a double-head vehicle, and is responsible for product transfer between a raw material bin and a rough and fine integrated machine and product transfer between the rough and fine integrated machine and a coding machine, and the 2 nd is a mechanical gripper, and is responsible for product transfer between the coding machine and a grinding machine and product transfer between the grinding machine and a finished product bin. Namely, the task to be executed generated by the 1 st request table and the task to be executed generated by the 2 nd request table are the 1 st task, and the task to be executed generated by the 3 rd request table and the task to be executed generated by the 4 th request table are the 2 nd task.
After the 1 st type task is inserted into the task table, the task to be executed generated by the 1 st request table has the highest priority, and the task to be executed generated by the 2 nd request table has the lowest priority, so the task to be executed generated by the 2 nd request table is inserted behind the task to be executed generated by the 1 st request table.
After the task of the type 2 is inserted into the task table, the task to be executed generated by the request table of the 3 rd is the lowest priority among the priorities of the tasks to be executed generated by the request table of the 4 th, and therefore the task to be executed generated by the request table of the 3 rd is inserted behind the task to be executed generated by the request table of the 4 th.
When M >1, step S4 includes the steps of:
s41: acquiring all tasks to be executed, if the tasks to be executed do not exist, executing the step S2, otherwise, executing the step S42;
s42: if j tasks exist in the tasks to be executed and j transition devices in idle states exist, 1 j tasks are acquired and distributed to 1 j transition device in idle states, the state of the j transition device is updated to be material, and the step S41 is repeated.
The working ranges of the 1 st transfer device and the 2 nd transfer device are not overlapped, so that the 1 st transfer device and the 2 nd transfer device can be dispatched synchronously. If the 1 st task exists in the task table and the 1 st transfer device in an idle state exists, 1 st task in the task table can be allocated to the 1 st transfer device; if there are 2 nd tasks in the task table and there are 2 nd transfer devices in an idle state, 1 2 nd task in the task table can be allocated to 1 2 nd transfer device.
If there are multiple 1 st kind tasks or multiple 2 nd kind tasks, according to the order of the task to be executed in the task table, the 1 st jth kind task in the task table is selected to be distributed to 1 jth kind of transfer device.
In other embodiments, if the working ranges of the transfer devices overlap with each other (the to-be-executed tasks generated by 1 request table may be executed by a plurality of transfer devices), the transfer devices whose working ranges overlap with each other may monitor the task tables in turn so as to prevent the to-be-executed tasks from being simultaneously distributed to the plurality of transfer devices.
In the same-procedure multi-equipment cooperative control system, a control unit comprises a request distribution module and N +1 task control modules, wherein the request distribution module is used for distributing product transfer requests of all processing equipment to corresponding request tables;
the 1 st task control module is used for monitoring the 1 st request table in real time, if 1 waiting loading request exists in the 1 st request table, the 1 st task control module generates 1 task to be executed based on the waiting loading request, removes the waiting loading request from the 1 st request table, and continues to monitor the 1 st request table;
the (N + 1) th task control module is used for monitoring an (N + 1) th request table in real time, if 1 blanking waiting request exists in the (N + 1) th request table, the (N + 1) th task control module generates 1 task to be executed based on the blanking waiting request, removes the blanking waiting request from the (N + 1) th request table, and continues to monitor the (N + 1) th request table;
the ith (N is more than or equal to i and more than or equal to 2) task control module is used for monitoring the ith request table in real time, if the ith request table has a waiting loading request and a waiting unloading request at the same time, the ith task control module generates 1 task to be executed based on the waiting loading request with the earliest request time and the waiting unloading request with the earliest request time, removes the waiting loading request with the earliest request time and the waiting unloading request with the earliest request time from the ith request table, and continuously monitors the ith request table.
The control unit further comprises M transfer device control modules, wherein the jth transfer device control module is used for monitoring the task table and the jth transfer device, if the jth transfer device in the idle state exists and the jth task exists in the task table, the jth transfer device control module acquires 1 jth task from the task table, distributes the jth task to the jth transfer device in the idle state, updates the state of the jth transfer device into the material, and continuously monitors the task table and the jth transfer device.
Example 2:
in this embodiment, 1 transfer device is provided, and is a general transfer device, and the general transfer device is configured to complete all tasks to be executed that are generated by the request table; in this embodiment, the universal transferring device is a mechanical gripper, and the product transfer between the raw material bin and the rough and fine integrated machine, between the rough and fine integrated machine and the coding machine, between the coding machine and the grinding machine, and between the grinding machine and the finished product bin is performed by the mechanical gripper.
And all the tasks to be executed are sorted in the task table according to the task initiation time, the starting point equipment number and the preset task priority.
According to the priority, the task to be executed generated by the 1 st request table has the highest priority, is inserted into the head of the task table, and the task to be executed generated by the 4 th request table has the middle priority, after the task to be executed generated by the 1 st request table is inserted, the task to be executed generated by the 2 nd request table and the task to be executed generated by the 3 rd request table have the lowest priority, and after the task to be executed generated by the 4 th request table is inserted. For the tasks to be executed with the same priority, the earlier the task initiation time is, the earlier the sequence is; and sequencing the tasks to be executed with the same priority and the same task initiation time according to the starting point equipment number.
The method comprises the following steps that 1, a transfer device is a universal transfer device, and the universal transfer device is used for completing all tasks to be executed; step S4 includes the following steps:
s41: acquiring all tasks to be executed, if the tasks to be executed do not exist, executing the step S2, otherwise, executing the step S42;
s42: checking the state of the general purpose transfer device, if there is a general purpose transfer device whose state is idle, acquiring 1 task to be executed and allocating it to 1 general purpose transfer device whose state is idle, updating the state of the general purpose transfer device to be material, and repeating step S41.
And sequencing the tasks to be executed according to the priority, the task initiating time and the starting point equipment number, so that when the universal transfer device in an idle state is detected, the tasks to be executed at the head of the queue are distributed to the idle universal transfer device to complete the tasks to be executed.
And then, product transfer requests of all the processing equipment are obtained again, each request table is updated, if the request table can generate a new task to be executed, the newly generated task to be executed is inserted into the task table, and the state of the universal transfer device is checked until an idle universal transfer device is found to execute the task at the head of the task table. If the request table can not generate a new task to be executed, checking whether the task table is empty, if so, repeating the step S2 to obtain the product transfer requests of all the processing equipment, and if not, checking the state of the universal transfer device until finding an idle universal transfer device to execute the task at the head of the task table.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A same-process multi-equipment cooperative control method is characterized by comprising the following steps:
s1: the N procedures (N >0) are in one-to-one correspondence with the N types of processing equipment, and the equipment number of each processing equipment, the raw material bin number of each raw material bin and the finished product bin number of each finished product bin are respectively obtained; the number of the raw material bins is at least 1, the number of the finished product bins is at least 1, the number of each processing device is at least 1, the 1 st processing device is used for completing the 1 st procedure, the 2 nd processing device is used for completing the 2 nd procedure, …, and the Nth processing device is used for completing the Nth procedure;
s2: obtaining product transfer requests of all processing equipment, wherein the product transfer requests are divided into a feeding waiting request and a discharging waiting request;
s3: if a waiting loading request of the 1 st type processing equipment exists, or a waiting unloading request of the Nth type processing equipment exists, or a waiting unloading request of the i-1 th type processing equipment and a waiting loading request of the ith type (N is more than or equal to i and more than or equal to 2) processing equipment exist at the same time, generating a task to be executed;
s4: and allocating the task to be executed to the transfer device in the idle state, and repeating the step S2 until the production is finished.
2. The same-process multi-device cooperative control method as claimed in claim 1, wherein in step S2, the product transfer request includes a request time, a request type and a device number, the request type includes waiting for loading and waiting for unloading, and the device number is the device number of the processing device that initiated the product transfer request.
3. The same-process multi-device cooperative control method according to claim 2, wherein in step S3, the task to be executed is specifically:
if the waiting loading requests of the 1 st type of processing equipment exist, generating tasks to be executed respectively based on the waiting loading requests, wherein the serial number of a starting point device of the tasks to be executed is the serial number of a raw material bin, and the serial number of an end point device of the processing equipment waiting for the loading requests is the serial number of the processing equipment;
if the blanking waiting requests of the Nth type of processing equipment exist, generating tasks to be executed respectively based on the blanking waiting requests, wherein the serial number of the starting point equipment of the tasks to be executed is the serial number of the processing equipment waiting for the blanking requests, and the serial number of the end point equipment is the serial number of a finished product bin;
if the blanking waiting request of the i-1 processing equipment and the loading waiting request of the i-th (N is more than or equal to i and more than or equal to 2) processing equipment exist at the same time, k tasks to be executed are generated based on the k blanking waiting requests with the earliest request time and the k loading waiting requests with the earliest request time, k is min (k1, k2), k1 is the number of the blanking waiting requests of the i-1 processing equipment, k2 is the number of the loading waiting requests of the i-th processing equipment, the starting equipment number of the tasks to be executed is the equipment number of the processing equipment waiting for the blanking request in the transfer request, and the ending equipment number is the equipment number of the processing equipment waiting for the loading request in the transfer request.
4. The same-process multi-device cooperative control method as claimed in claim 3, wherein in step S3, the generated task to be executed further includes a task initiation time; a task to be executed, which is obtained based on the material loading waiting request of the 1 st type processing equipment, takes the request time of the material loading waiting request as task initiating time; a task to be executed, which is obtained based on the blanking waiting request of the Nth type of processing equipment, takes the request time of the blanking waiting request as task initiation time; and the task to be executed is obtained based on the blanking waiting request of the i-1 processing equipment and the loading waiting request of the i-1 processing equipment, and the earlier request time in the blanking request and the loading waiting request is taken as the task initiating time.
5. The same-process multiple-equipment cooperative control method according to claim 4, wherein the transfer devices in the step S4 are M (M >0) types, and the number of each transfer device is at least 1; the task to be executed by the 1 st transfer device is denoted as the 1 st task, the task to be executed by the 2 nd transfer device is denoted as the 2 nd task, …, and the task to be executed by the mth transfer device is denoted as the mth task.
6. The same-process multi-device cooperative control method as claimed in claim 5, wherein a plurality of tasks to be executed belonging to jth (M ≧ j ≧ 1) tasks are assigned to the transfer device in an idle state in the order of task initiation time, starting point device number, and preset task priority; the task to be executed is distributed to the transfer device in the idle state by taking the height of the priority as the sequence, the task to be executed with the same priority is distributed to the transfer device in the idle state by taking the sequence of the task initiating time as the sequence, and the task to be executed with the same priority and the same task initiating time is distributed to the transfer device in the idle state by taking the starting point equipment number as the sequence.
7. The same-process multi-device cooperative control method according to claim 5, wherein the preset task priorities are as follows: the priority of the task to be executed obtained based on the waiting feeding request of the 1 st type of processing equipment is the highest, the priority of the task to be executed obtained based on the waiting discharging request of the Nth type of processing equipment is the medium, and the priority of the rest tasks to be executed is the lowest.
8. The same-process multiple-equipment cooperative control method according to claim 5, wherein the transfer device in the step S4 has M types, M >1, and the step S4 comprises the steps of:
s41: acquiring all tasks to be executed, if the tasks to be executed do not exist, executing the step S2, otherwise, executing the step S42;
s42: if j tasks exist in the tasks to be executed and j transition devices in idle states exist, 1 j tasks are acquired and distributed to 1 j transition device in idle states, the state of the j transition device is updated to be material, and the step S41 is repeated.
9. The same-process multi-equipment cooperative control method according to claim 5, wherein the transfer devices in step S4 are M, where M is 1, and the transfer devices are general transfer devices for performing all tasks to be performed; step S4 includes the following steps:
s41: acquiring all tasks to be executed, if the tasks to be executed do not exist, executing the step S2, otherwise, executing the step S42;
s42: checking the state of the general purpose transfer device, if there is a general purpose transfer device whose state is idle, acquiring 1 task to be executed and allocating it to 1 general purpose transfer device whose state is idle, updating the state of the general purpose transfer device to be material, and repeating step S41.
10. A co-process multi-equipment cooperative control system based on the co-process multi-equipment cooperative control method according to any one of claims 1 to 9, comprising: the device comprises a control unit, a raw material bin, a finished product bin, M transfer devices and N processing devices;
the number of each processing device is at least 1, the 1 st processing device is used for completing the 1 st procedure, the 2 nd processing device is used for completing the 2 nd procedure, …, and the Nth processing device is used for completing the Nth procedure; each processing device is communicated and respectively connected with the control unit, and sends a product transfer request to the control unit;
the control unit generates a task to be executed based on the product transfer request;
the transfer device is in communication connection with the control unit, and receives and executes the task to be executed sent by the control unit.
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