CN112987669B - A RGV Scheduling Method Based on Serial Scheduling Algorithm - Google Patents

Abstract

The invention discloses an RGV scheduling method based on a serial scheduling algorithm, including an RGV scheduling system and a serial scheduling algorithm, the RGV scheduling system includes an RGV scheduling interface, and is characterized in that: the serial scheduling algorithm is placed in the RGV In the scheduling interface, the serial scheduling algorithm first creates a configuration file about the line layout, RGV track, and scheduling task priority in advance; then obtains the preconfigured configuration file, and then allocates the optimal path and RGV scheduling tasks Calculate and generate corresponding control instructions, and finally send the instructions to the RGV for execution through the RGV interface provided by the equipment manufacturer, so as to realize the board handling efficiency when controlling multiple RGVs corresponding to multiple automated production lines, thereby improving the utilization of RGVs rate and the flow rate of the plate between each process.

Description

A RGV Scheduling Method Based on Serial Scheduling Algorithm

technical field

The invention relates to the technical field of the related field of panel home custom production, in particular to an RGV scheduling method based on a serial scheduling algorithm.

Background technique

In the custom home production industry, various types of panels need to be transferred between different processes during the production process. Between each process node, the panels are mainly conveyed in the following two ways: 1) Manually place the panels on the roller connection 2) Use RGV automatic feeding for stacking handling and circulation; RGV handling can improve the efficiency of board circulation and reduce the investment of human resources. However, because the scheduling system provided by RGV manufacturers can generally only meet single-unit, point-to-point handling, it does not provide scheduling operations between multiple RVGs, and the physical separation distance between each section of the panel furniture production site Longer, because the scheduling of each RGV is independently controlled at the electrical level, and the linkage of multiple RGVs cannot be realized, resulting in a low flow speed of the board between each process, low production efficiency, and simultaneous handling The efficiency is also relatively low, so it needs to be improved.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above-mentioned deficiencies of the prior art and provide a method of handling efficiency between the various processes when multiple RGVs can be used at the same time to correspond to multiple automated production lines, so as to speed up the flow speed of the plates between the various processes. A RGV scheduling method based on serial scheduling algorithm to improve production efficiency.

In order to achieve the above purpose, an RGV scheduling method based on a serial scheduling algorithm designed by the present invention includes an RGV scheduling system and a serial scheduling algorithm. The RGV scheduling system includes an RGV scheduling interface, and the serial scheduling algorithm sets the In the RGV scheduling interface, the serial scheduling algorithm first pre-creates a configuration file about the line layout, RGV track, and scheduling task priority level; and then obtains the pre-configured configuration file, and then performs the optimal path and RGV scheduling tasks. Then, through the RGV interface provided by the equipment manufacturer, the instructions are sent to the RGV for execution, so as to realize the board handling efficiency when controlling multiple RGVs corresponding to multiple automated production lines, so as to improve the RGV The utilization rate of the board and the flow rate of the board between each process, which specifically includes the following steps:

S1. Create a configuration file for periodic scheduling tasks, and then map the ground rolling line status to the database

S2. Detect the state of the ground roller;

S3, determine whether the generation scheduling task condition is reached; Yes, go to the next step; No, return to step S2; The scheduling task conditions described in this embodiment include the following: 1. Whether the stack to be transported has been in place; 2. Whether the corresponding RGV equipment is in an idle state; 3. Whether there is no stacking on the destination rolling line to be sent to, and can receive the conveyed stacking;

S4. Create an RGV scheduling task;

S4-1, the thread program firstly sends a scheduling task request to the system; S4-2, the system passes, the stacking situation on the rolling lines on the line body, analyzes whether the scheduling task request can be completed, and if the transportation path of the scheduling task can be completed There are multiple, choose the best known transportation route; S4-3, generate records of scheduling tasks; S4-4, also generate power trajectory data for RGV simulation scheduling. );

S5, determine whether it is necessary to enter the carrier exchange area, if yes, go to step S6, if not, go to step S11;

S6, enter the scheduling task splitting link, and then enter the next step;

S7. Create a running record of the current RGV transporting stacks to the carrier exchange area, and then go to the next step;

S8, wait for the completion of the transfer task in the exchange area, and then go to the next step;

S9, notify the RGV of another area to receive the stacking of the exchange area, and then go to the next step;

S10, create a motion record in the RGV active area of another area, and then enter step S12;

S11. Create a motion record in the RGV active area of the current area;

S12 , present the content of step S7 , step S11 and step S12 through the web page of the RGV debugging animation to simulate the live broadcast of the animation or the scheduling task playback.

Further, the serial scheduling algorithm in the RGV scheduling interface consists of a configuration file and an RGV scheduling task pool.

Further, the configuration file is stored in the form of XML after configuration, packaged in the form of a single DLL, and loaded into the production line control system in the form of a plug-in.

Further, the serial scheduling algorithm automatically obtains the production tasks newly generated by the upper system through the RGV scheduling interface provided by the upper system, and forms the current tasks to be executed into the task pool to be scheduled by the RGV, and when a new RGV scheduling task is required During execution, the serial scheduling algorithm will read the XML configuration file in real time, and load the configuration information into the database.

The invention obtains a RGV scheduling method based on a serial scheduling algorithm. The invention can solve the problem of handling efficiency between each process when multiple RGVs are used at the same time to correspond to multiple automated production lines in a panel-type home production workshop. The flow speed between each process is accelerated, thereby improving production efficiency.

Description of drawings

1 is a schematic flowchart of an RGV scheduling method based on a serial scheduling algorithm in Embodiment 1;

2 is a display diagram of the RGV scheduling area in Embodiment 1;

Fig. 3 is the visualization monitoring display diagram of RGV scheduling in embodiment 1;

Detailed ways

The invention-creation will be further described below in conjunction with the embodiments.

Example 1:

As shown in FIG. 1 , an RGV scheduling method based on a serial scheduling algorithm provided by this embodiment includes an RGV scheduling system and a serial scheduling algorithm. The RGV scheduling system includes an RGV scheduling interface, and is characterized in that: the The serial scheduling algorithm is placed in the RGV scheduling interface. The serial scheduling algorithm first creates a configuration file about the line layout, RGV track, and scheduling task priority level in advance; then obtains the pre-configured configuration file, and then optimizes The allocation operation between the path and the RGV scheduling task, and the corresponding control instructions are generated. Finally, the instructions are sent to the RGV for execution through the RGV interface provided by the equipment manufacturer, so as to realize the board handling efficiency when controlling multiple RGVs corresponding to multiple automated production lines. , in order to improve the utilization rate of RGV and the flow speed of the plate between each process, which specifically includes the following steps:

S1. Create a configuration file for periodic scheduling tasks, and then map the ground rolling line state to the database; in this embodiment, mapping the ground rolling line refers to: because the logic of RGV scheduling is implemented in the database storage process, the ground rolling line identifier is The status of the stagnant material comes from the PLC equipment, so it is necessary to read the ground roller status from the PLC, and update the status to the table in the database. The information on the PLC can also know what type of board is stacked on the ground roller. , so that the database stored procedure help can complete the task scheduling of RGV according to the situation of online materials,

S2. Detect the state of the ground roller;

S3, determine whether the generation scheduling task condition is reached; if yes, go to the next step; if no, return to step S2;

The scheduling task conditions described in this embodiment include the following: 1. Whether the stacks to be transported are in place; 2. Whether the corresponding RGV equipment is in an idle state; 3. Whether the sent to the target ground roller is There are no stacks, and the conveyed stacks can be received;

S4. Create an RGV scheduling task;

The specific steps of how the RGV schedules tasks in this embodiment are as follows:

S4-1, the thread program firstly sends a scheduling task request to the system; S4-2, the system passes, the stacking situation on the rolling lines on the line body, analyzes whether the scheduling task request can be completed, and if the transportation path of the scheduling task can be completed There are multiple, choose the best known transportation route; S4-3, generate the records of scheduling tasks; S4-4, also generate the power trajectory data of RGV simulation scheduling;

S5, determine whether it is necessary to enter the carrier exchange area, if yes, go to step S6, if not, go to step S11;

The carrier exchange area in this embodiment refers to: if there are two RGVs on a guide rail, we will delineate a moving area for the two RGVs, generally each RGV is on one side. But they have an area of overlapping motion, we call the overlapping area of RGV activity the carrier exchange area;

S7. Create a running record of the current RGV transporting stacks to the carrier exchange area, and then go to the next step;

S8, wait for the completion of the transfer task in the exchange area, and then go to the next step;

S9, notify the RGV of another area to receive the stacking of the exchange area, and then go to the next step;

S10, create a motion record in the RGV active area of another area, and then enter step S12;

S11. Create a motion record in the RGV active area of the current area;

S12 , present the content of step S7 , step S11 and step S12 through the web page of the RGV debugging animation to simulate the live broadcast of the animation or the scheduling task playback.

The specific determination of the optimal approach described in this embodiment is as follows: since there may be several stacks of the same type of panels in the area to be conveyed, there may also be several floor rollers in the calling area that can receive the required stacks of panels The stacking has formed a many-to-many relationship. There are so many permutations and combinations of them on different transportation paths. Therefore, it is necessary to calculate and analyze which one is the shortest. Whether it needs to be transferred through RGV to finally evaluate which path is the best. The way.

Further, the serial scheduling algorithm in the RGV scheduling interface consists of a configuration file and an RGV scheduling task pool.

Further, the configuration file is stored in the form of XML after configuration, packaged in the form of a single DLL, and loaded into the production line control system in the form of a plug-in.

Further, the serial scheduling algorithm automatically obtains the production tasks newly generated by the upper system through the RGV scheduling interface provided by the upper system, and forms the current tasks to be executed into the task pool to be scheduled by the RGV, and when a new RGV scheduling task is required During execution, the serial scheduling algorithm will read the XML configuration file in real time, and load the configuration information into the database.

In this embodiment, the configuration file is stored in the form of XML after being configured, and is packaged in the form of a single DLL, and can be loaded in the production line control system in the form of a plug-in. The main functions are as follows:

Ground Roller Electrical Communication Configuration

RGV electrical communication configuration;

RGV layout configuration:

RgvSetting.xml configuration (currently this configuration is saved in the database table tb_rgv_area), where the configuration items of this file are the same as Rgv.xml (Rgv.xml contains the size information of the RGV, the coordinate information of the motion area range, within the motion area range, each The coordinate information of the ground roll line, the above information are the key parameters of the transportation path for calculating the RGV scheduling task.) One-to-one correspondence;

1. Description of task scheduling algorithm

The scheduling algorithm will automatically obtain the production tasks newly generated by the upper system through the interface provided by the upper system (such as: production management system, MES), and form the current tasks to be executed into the task pool to be scheduled by the RGV. When executed, the algorithm will read the XML configuration file in real time, and load the configuration information into the program (the RgvSetting.xml file is stored in the database). The following uses two implemented use cases to illustrate how tasks are scheduled (referring to the configuration file above):

The layout is as follows: green is the edge buffer area_RGV1 motion area, purple is the carrier exchange area, and orange is the edge buffer area_RGV2 motion area;

For example: complete scheduling in the RGV movement area: (101-106, 201-204 are green; 121-124 are yellow; 131-136, 211-213 are orange)

As shown in Figure 2, 201 is called material;

Determine whether 101-106 have this type of board, if there are and there are multiple stacks, the algorithm will select the one with the closest distance to schedule (if 101 and 106 both have this type of board, then choose 101 The stack on the carry to 201;

Call "RGV1" to complete this scheduling task.

For example: the scheduling that needs to be transferred outside the RGV sports area:

201 bid material;

The area currently accessible by "RGV1" does not have this type of panel stacking;

Found 131~136 (on the active area of RGV2, and on two stacks 131 and 136);

If the board on 131 is close to 201, the algorithm will control RGV1 to carry the stack of 131 to 201;

However, RGV2 cannot directly reach 201. First, carry the board of 131 to the nearest exchange area (at this time, 121 to 124 are empty), then choose to ship the board to 124;

When the stack is transported to the 124, it will immediately notify the RGV1 to pick up the material on the 124;

RGV1 will transport the stack on 124 to 201 (prioritizing the transfer task in the exchange area).

And through Figure 3, the RGV scheduling visualization monitoring display is carried out.

Therefore, the present invention can solve the problem of handling efficiency between each process when multiple RGVs are used at the same time to correspond to multiple automated production lines in a panel-type home production workshop, and speed up the flow of panels between processes, thereby improving production efficiency.

While the basic principles and main features and advantages of the present invention have been shown and described above, it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but without departing from the spirit or essential aspects of the present invention. In the case of the characteristic features, the present invention can be implemented in other specific forms. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and scope of the equivalents of , are included in the present invention. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

1. a RGV scheduling method based on serial scheduling algorithm, comprises RGV scheduling system and serial scheduling algorithm, described RGV scheduling system comprises RGV scheduling interface, it is characterized in that: described serial scheduling algorithm is placed in RGV scheduling interface In the serial scheduling algorithm, the configuration file about the line layout, RGV track, and scheduling task priority level is pre-created in the serial scheduling algorithm. And generate the corresponding control instructions, and finally send the instructions to the RGV for execution through the RGV interface provided by the equipment manufacturer, so as to realize the board handling efficiency when controlling multiple RGVs corresponding to multiple automated production lines, so as to improve the utilization of RGV and The flow speed of the plate between each process, which specifically includes the following steps: S1. Create a configuration file for periodic scheduling tasks, and then map the ground rolling line status to the database; S2. Detect the state of the ground roller; S3, determine whether the generation scheduling task condition is reached; Yes, go to the next step; No, return to step S2; the scheduling task conditions include the following: 1. Whether the stack to be transported has been in place; 2. The corresponding RGV Whether the equipment is in an idle state; 3. Whether there is no stacking on the destination rolling line to be sent to, and can receive the conveyed stacking; S4. Create an RGV scheduling task; S5, determine whether it is necessary to enter the carrier exchange area, if yes, go to step S6, if not, go to step S11; S6, enter the scheduling task splitting link, and then enter the next step; S7. Create a running record of the current RGV transporting stacks to the carrier exchange area, and then go to the next step; S8, wait for the completion of the transfer task in the exchange area, and then go to the next step; S9, notify the RGV of another area to receive the stacking of the exchange area, and then go to the next step; S10, create a motion record in the RGV active area of another area, and then enter step S12; S11. Create a motion record in the RGV active area of the current area; S12 , present the content of step S7 , step S11 and step S12 through the web page of the RGV debugging animation to simulate the live broadcast of the animation or the scheduling task playback. 2 . The RGV scheduling method based on a serial scheduling algorithm according to claim 1 , wherein the serial scheduling algorithm in the RGV scheduling interface is composed of a configuration file and an RGV scheduling task pool. 3 . 3. a kind of RGV scheduling method based on serial scheduling algorithm according to claim 1, is characterized in that: described configuration file is stored in XML mode after configuration, adopts the mode of single DLL to pack, and uses plug-in way to load in the production line control system. 4. a kind of RGV scheduling method based on serial scheduling algorithm according to claim 3, is characterized in that: described serial scheduling algorithm automatically obtains the production task newly generated by upper system through the RGV scheduling interface provided by upper system , the current tasks to be executed are formed into a task pool to be scheduled by the RGV, and when there is a new RGV scheduling task to be executed, the serial scheduling algorithm will read the XML configuration file in real time, and load the configuration information into the database.

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