Method, device and equipment for scheduling moving parts for multi-station product processing

Abstract

The embodiment of the present invention discloses a method, device and equipment for scheduling moving parts for multi-station product processing. The method includes: obtaining the work tasks of the moving parts, and determining the target stations of the moving parts according to the work tasks; for every two adjacent moving parts, according to the positional relationship between the target stations and the current positions of the moving parts, determining the optimal movement mode of the two adjacent moving parts based on the time consumed to complete the work tasks; determining the optimal scheduling results of all moving parts according to the optimal movement mode; according to the optimal scheduling results, scheduling each moving part to work based on preset movement rules. The technical solution provided by the embodiment of the present invention coordinates the good coordination and scheduling of each moving part at each station, realizes the parallel operation of multiple moving parts, and can stably, safely and efficiently control the equipment in real time so that each station can run in sequence as needed, thereby improving the overall work efficiency of the equipment.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automated production technology, and in particular to a method, device and equipment for scheduling moving parts for multi-station product processing. Background Art

[0002] In the PCB manufacturing industry, the demand for efficient automation is increasing day by day, among which the efficient automation of return pin matching is a very important part. At present, the vast majority of PCB factories are manually matching return pins, which is very inefficient and has a certain error rate. It is impossible to manage the process in an informationized way. At the same time, the cost of manual management is also increasing. Therefore, there is an urgent need for equipment that can automatically complete the drill bit return pin matching function. Based on this demand, single-grip semi-automatic equipment has appeared, but the efficiency of this type of equipment is still low and cannot meet the actual needs of customers. In addition, semi-automatic equipment cannot be fully managed in an informationized way. Manual intervention is prone to errors, and information cannot form a complete closed loop. At the same time, the serial process method adopted by the single-grip equipment also makes the overall efficiency low. Summary of the invention

[0003] The embodiments of the present invention provide a method, device and equipment for scheduling moving parts for multi-station product processing, so as to realize the parallel operation of multiple moving parts and ensure efficient, safe and stable operation at multiple stations.

[0004] In a first aspect, an embodiment of the present invention provides a method for scheduling moving parts for multi-station product processing, the method comprising:

[0005] Acquire a work task of a moving component, and determine a target work position of the moving component according to the work task;

[0006] For every two adjacent moving parts, according to the positional relationship between the target workstation and the current position of the moving parts, and based on the time taken to complete the work task, determine the optimal movement mode of the two adjacent moving parts;

[0007] Determining the optimal scheduling results of all the moving parts according to the optimal movement mode;

[0008] According to the optimal scheduling result, each of the moving parts is scheduled to work based on preset movement rules.

[0009] Optionally, before determining the optimal motion mode of two adjacent moving parts for each two adjacent moving parts according to the positional relationship between the target workstation and the current position of the moving parts and based on the time taken to complete the work task, the method further includes:

[0010] According to the arrangement order of each workstation, an identification value is set for each of the workstations and the avoidance safety position.

[0011] Optionally, determining the optimal motion mode of two adjacent moving parts based on the positional relationship between the target workstation and the current position of the moving part and the time taken to complete the work task includes:

[0012] When A n-1 >=A n >N n >N n-1 , respectively calculate the time required for moving part n to give priority to moving part n-1 so that moving part n-1 reaches the corresponding target station first, and the time required for moving part n-1 to reach A first. n -1 position waiting time required for the moving component n to reach the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode;

[0013] When A n <=A n-1 <N n-1 <N n , respectively calculate the time required for moving part n-1 to give way to moving part n so that moving part n can reach the corresponding target station first, and the time required for moving part n to reach A first. n-1 +1 position waiting time required for the moving part n-1 to reach the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode;

[0014] When A n <=N n-1 <N n <=A n-1 , respectively calculating the time required for moving component n-1 to give priority to moving component n so that moving component n arrives at the corresponding target station first, and the time required for moving component n to give priority to moving component n-1 so that moving component n-1 arrives at the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode;

[0015] Among them, N n represents the current position of the moving part n, A n represents the target position of moving part n, N n-1 represents the current position of moving part n-1, A n-1 Indicates the target position of moving part n-1.

[0016] Optionally, the determining the optimal motion mode of two adjacent moving parts based on the positional relationship between the target workstation and the current position of the moving part and the time taken to complete the work task further includes:

[0017] If there is a conflict between the first optimal motion mode between moving component n and moving component n-1, and the second optimal motion mode between moving component n and moving component n+1, then based on the time taken to complete the work task, the optimal motion mode of moving component n, moving component n-1 and moving component n+1 is determined from the non-conflicting motion mode combinations.

[0018] Optionally, the preset movement rules include:

[0019] After the moving component moves to the corresponding target position, updating the current position of the moving component to the target position, and setting the target position and current state of the moving component to initial values;

[0020] When the moving component needs to go to a new workstation, setting the target workstation of the moving component to the identification value of the new workstation;

[0021] If the current position, target position and current state of the moving component and its adjacent moving components meet the first preset condition, the moving component is controlled to start moving and the current state of the moving component is set to moving; otherwise, the moving component is controlled to wait in a standby state;

[0022] If the current position, target position and current state of the moving component and its adjacent moving component meet the second preset condition, the target position of the adjacent moving component is updated.

[0023] Optionally, determining the optimal motion mode of two adjacent moving parts based on the time taken to complete the work task includes:

[0024] The time consumption is calculated according to the average movement time of two adjacent moving parts from the current position to the target workstation, the working time at the target position, and the parallel working time.

[0025] Optionally, the moving component includes multiple movers in a single linear motor.

[0026] In a second aspect, an embodiment of the present invention further provides a moving parts scheduling device for multi-station product processing, the device comprising:

[0027] A work task acquisition module, used to acquire the work task of the moving component and determine the target work position of the moving component according to the work task;

[0028] An optimal motion mode determination module is used to determine the optimal motion mode of two adjacent moving parts for each two adjacent moving parts according to the positional relationship between the target workstation and the current position of the moving parts and based on the time taken to complete the work task;

[0029] An optimal scheduling result determination module, used to determine the optimal scheduling results of all the moving parts according to the optimal motion mode;

[0030] The motion component scheduling module is used to schedule each of the motion components to work based on the optimal scheduling result and preset motion rules.

[0031] In a third aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0032] one or more processors;

[0033] A memory for storing one or more programs;

[0034] When the one or more programs are executed by the one or more processors, the one or more processors implement the motion component scheduling method for multi-station product processing provided by any embodiment of the present invention.

[0035] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the motion component scheduling method for multi-station product processing provided by any embodiment of the present invention.

[0036] The embodiment of the present invention provides a method for scheduling moving parts for multi-station product processing, firstly obtaining the work tasks of the moving parts, and determining the target stations of the moving parts according to the work tasks, then for each two adjacent moving parts, according to the positional relationship between the target stations and the current positions of the moving parts, and based on the time taken to complete the work tasks, determining the optimal motion mode of the two adjacent moving parts, and then determining the optimal scheduling results of all moving parts according to the obtained optimal motion modes, so that each moving part can be scheduled to work according to the preset motion rules according to the optimal scheduling results. The method for scheduling moving parts for multi-station product processing provided by the embodiment of the present invention coordinates the good coordination and scheduling of each moving part at each station, realizes the parallel operation of multiple moving parts, and can stably, safely and efficiently control each station of the equipment in real time to run in sequence as needed, thereby improving the overall work efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flow chart of a method for scheduling moving parts for multi-station product processing provided in Embodiment 1 of the present invention;

[0038] Figure 2 A schematic diagram of a scene of an exemplary workstation and moving parts provided in the first embodiment of the present invention;

[0039] Figure 3A schematic diagram of the structure of a moving parts scheduling device for multi-station product processing provided in the second embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0042] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0043] Embodiment 1

[0044] Figure 1 This is a flow chart of the method for scheduling moving parts for multi-station product processing provided in the first embodiment of the present invention. This embodiment can be applied to the situation where multiple moving parts are controlled to run in parallel during the multi-station product processing, such as being applied to PCB automatic needle-matching machine equipment, and can also be applied to other fields that also require multi-task scheduling. This method can be executed by the moving parts scheduling device for multi-station product processing provided in the embodiment of the present invention. The device can be implemented by hardware and / or software, and can generally be integrated into a computer device. Figure 1 As shown, the specific steps include:

[0045] S11, obtaining a work task of a moving component, and determining a target workstation of the moving component according to the work task.

[0046] Specifically, when a new work task is issued, if a certain moving component is required to go to a certain workstation to grab materials, the target workstation of each moving component can be determined according to the received work task, and the current position of each moving component can also be recorded in real time, so as to determine the movement route of each moving component. Optionally, the moving component includes multiple movers in a single linear motor. Linear motors have high speed and acceleration, and have high requirements for signal real-time performance. They are the hardware foundation to ensure efficient operation of the work. Linear motors can be coordinated and dispatched by obtaining the operating status information of the driver. Furthermore, the moving parts may also include movers in other different motors that may interfere with the above-mentioned multiple movers, and so on.

[0047] S12. For every two adjacent moving parts, determine the optimal moving mode of the two adjacent moving parts according to the positional relationship between the target workstation and the current position of the moving parts and based on the time taken to complete the work task.

[0048] Specifically, there are multiple moving parts, each of which can perform tasks back and forth between two adjacent workstations, and two adjacent moving parts may go to the same workstation to perform tasks, in which case one of the moving parts needs to avoid waiting when necessary. The optimal movement mode of the two moving parts can be calculated once for every two adjacent moving parts to avoid interference between the two moving parts. The calculation process can specifically determine the optimal movement mode of the two moving parts based on the positional relationship between the target workstation and the current position of the two moving parts, and try to minimize the time it takes for the two moving parts to reach the target workstation and complete the corresponding work tasks.

[0049] Optionally, before determining the optimal movement mode of two adjacent moving parts for each two adjacent moving parts based on the positional relationship between the target workstation and the current position of the moving parts and based on the time taken to complete the work task, it also includes: setting identification values ​​for each workstation and avoidance safety position according to the arrangement order of each workstation.

[0050] Specifically, in order to avoid collision between two adjacent moving parts going to the same workstation, an avoidance safety position can be set on one or both sides of the workstation, so that one of the moving parts can go to the avoidance safety position to avoid and wait, and can go to the workstation to perform its work task after the other moving part completes the corresponding work task and leaves. Or when one of the moving parts is on standby at the workstation, and the other moving part needs to go to the workstation to perform the work task, the standby moving part can go to the avoidance safety position to avoid, and so on. Among them, the avoidance safety position can be set additionally on the basis of the workstation, or the adjacent workstation of a certain workstation can be used as the avoidance safety position of the workstation. For each workstation and avoidance safety position, the corresponding identification value can be set respectively according to the arrangement order of each workstation for computer processing. Specifically, they can be arranged in groups of two in order. For workstation n-1 and workstation n, the avoidance safety position identification value of workstation n-1 is set to 2n-3, the identification value of workstation n-1 is set to 2n-2, the identification value of workstation n is set to 2n-1, and the avoidance safety position identification value of workstation n-1 is set to 2n. Furthermore, if the number of workstations is an odd number N, the avoidance safety position identification value of workstation N-1 avoiding workstation N-2 can be increased by one as the identification value of workstation N, and the value can be increased by one as the avoidance safety position identification value of workstation N avoiding workstation N-1. For example, if there are four workstations, the avoidance safety position identification value of workstation 1 avoiding workstation 2 can be set to 1, the identification value of workstation 1 can be set to 2, the identification value of workstation 2 can be set to 3, the identification value of workstation 2 avoiding workstation 1 can be set to 4, the avoidance safety position identification value of workstation 3 avoiding workstation 4 can be set to 5, the identification value of workstation 3 can be set to 6, the identification value of workstation 4 can be set to 7, and the identification value of workstation 4 avoiding workstation 3 can be set to 8.

[0051] Further optionally, the optimal motion mode of two adjacent moving parts is determined based on the positional relationship between the target workstation and the current position of the moving part and the time taken to complete the work task, including: when A n-1 >=A n >N n >N n-1 , respectively calculate the time required for moving part n to give priority to moving part n-1 so that moving part n-1 reaches the corresponding target station first, and the time required for moving part n-1 to reach A first. n -1 position waiting to make the moving part n reach the corresponding target station first, and determine the movement mode with less time consumption as the optimal movement mode; when A n <=A n-1 <N n-1 <N n, respectively calculate the time required for moving part n-1 to give way to moving part n so that moving part n can reach the corresponding target station first, and the time required for moving part n to reach A first. n-1 +1 position waiting to make the moving part n-1 reach the corresponding target station first, and determine the movement mode with less time consumption as the optimal movement mode; when A n <=N n-1 <N n <=A n-1 , respectively calculate the time required for moving component n-1 to give priority to moving component n so that moving component n arrives at the corresponding target station first, and the time required for moving component n to give priority to moving component n-1 so that moving component n-1 arrives at the corresponding target station first, and determine the movement mode with less time consumption as the optimal movement mode; wherein, N n represents the current position of the moving part n, A n represents the target position of moving part n, N n-1 represents the current position of moving part n-1, A n-1 Indicates the target station of moving component n-1. Specifically, for moving components whose current state is standby, a calculation can be performed between every two adjacent moving components, that is, for the moving component in the middle, a calculation can be performed with the moving components on both sides of it respectively. For two adjacent moving components n and n-1, there can be two modes of movement, one is that moving component n waits for moving component n-1 to finish working first, and the other is that moving component n-1 waits for moving component n to finish working first. Ultimately, it can be compared to determine which mode of movement takes less total time, thereby determining the best mode of movement for the two moving components. During the process, the two moving components can use the same speed and acceleration.

[0052] Further optionally, the method of determining the optimal movement mode of two adjacent moving parts based on the positional relationship between the target workstation and the current position of the moving part and based on the time taken to complete the work task also includes: if there is a conflict between the first optimal movement mode between the moving part n and the moving part n-1, and the second optimal movement mode between the moving part n and the moving part n+1, then based on the time taken to complete the work task, determining the optimal movement mode of the moving part n, the moving part n-1 and the moving part n+1 from non-conflicting combinations of movement modes.

[0053] Specifically, after obtaining the best motion mode for every two adjacent moving parts, since the moving part located in the middle calculates two best motion modes with the moving parts on both sides thereof, a conflict may occur. The conflict may be that the first best motion mode requires moving part n to give priority to moving part n-1, and the second best motion mode requires moving part n to give priority to moving part n+1, and moving part n can only execute one of them at the same time. Then there can be two non-conflicting motion mode combinations, one is to select the first best motion mode for moving part n and moving part n-1, and select another motion mode other than the second best motion mode for moving part n and moving part n+1, and the other is to select the second best motion mode for moving part n and moving part n+1, and select another motion mode other than the first best motion mode for moving part n and moving part n-1. Then it can be determined which motion mode combination can make the three adjacent moving parts reach the target workstation and complete the corresponding work tasks in less time, and the motion mode combination can be determined as the best motion mode for the three adjacent moving parts.

[0054] Optionally, determining the optimal movement mode of the two adjacent moving parts based on the time taken to complete the work task includes: calculating the time taken based on the average movement time of the two adjacent moving parts from the current position to the target workstation, the working time at the target position, and the parallel working time.

[0055] Specifically, let the average moving time of moving part n from station x to station y be T nxy , the working time of moving part n at the corresponding target station is T n , the time that adjacent moving parts n-1 and n can work in parallel (performing work tasks at different stations at the same time) is T (n-1)n , we can assume that the time loss function of the work scheduling of moving parts n-1 and n is: f = T (n-1)xy +T nxy +T (n-1) +T n -T (n-1)n For every two adjacent moving parts, the time loss function can be used to calculate the time required for various motion modes to complete the corresponding work tasks.

[0056] S13. Determine the optimal scheduling results of all the moving parts according to the optimal movement mode.

[0057] Specifically, after obtaining the best motion mode of every two adjacent moving parts, or when a conflict occurs between these best motion modes, after resolving the conflict through the above scheme, the optimal scheduling result of all moving parts can be obtained, that is, the set of all best motion modes.

[0058] S14. According to the optimal scheduling result, each of the moving parts is scheduled to work based on preset motion rules.

[0059] Among them, optionally, the preset motion rules include: after the moving component moves to the corresponding target workstation, the current position of the moving component is updated to the target workstation, and the target workstation and current state of the moving component are set to initial values; when the moving component needs to go to a new workstation, the target workstation of the moving component is set to the identification value of the new workstation; if the current position, target workstation and current state of the moving component and its adjacent moving component meet the first preset condition, the moving component is controlled to start moving, and the current state of the moving component is set to movement; otherwise, the moving component is controlled to wait on standby; if the current position, target workstation and current state of the moving component and its adjacent moving component meet the second preset condition, the target workstation of the adjacent moving component is updated.

[0060] Specifically, the initial value can be 0, and when the moving part n changes from N n Movement to A n Afterwards, we can let N n =A n , A n =0, S n = 0. When the moving part n needs to go to the new station Y from the standby state, A n =Y. When A n >N n When the first preset condition may include: n+1 =0 and N n+1 >A n+1 , or, S n+1 =1 and A n+1 >A n ; when A n <N n When the first preset condition may include: n-1 =0 and N n-1 <A n-1 , or, S n-1 =1 and A n-1 <A n When the first preset condition is met, the moving component n can be controlled to start moving, and S n =1, if the first preset condition is not met, the moving component n is controlled to wait. The second preset condition can be: the target position of the moving component is the same as the current position of the adjacent moving component, and the adjacent moving component is waiting and there is no target position. n >N n When the second preset condition may include:n+1 = 0 and A n =N n+1 , A n+1 =0; when A n <N n When the second preset condition may include: n-1 = 0 and A n =N n-1 , A n-1 = 0. When the second preset condition is met, the target position of the adjacent moving component can be updated. n >N n When A n+1 =A n +1; when A n <N n When A n-1 =A n -1. Among them, N n represents the current position of the moving part n, A n represents the target position of moving part n, S n Indicates the current state of the moving part n. A value of 1 indicates motion and a value of 0 indicates standby. n =0 or a special value, it means that the moving component n has no target station temporarily and is in standby state.

[0061] For example, Figure 2As shown, the workstations include workstation 1 (three-dimensional warehouse), workstation 2 (small cache station), workstation 3 (large cache station), turntable station and workstation 4 (material picking and placing station), and the moving parts include a stacker (i.e., an example of different motors, if the A mover and the stacker work in a position adjacent to workstation 2, interference may occur) and the linear motor's A mover (small cache clamp, used to grab the material box of the small cache station to the large cache station or vice versa), B mover (large cache clamp, used to grab the drill bit in the material box on the large cache station to the turntable station or vice versa) and C mover (material box clamp, used to grab the material box of the turntable station to the material picking and placing station or vice versa). Then you can first set identification values ​​for each workstation and avoidance safety position, such as 1 for the stereoscopic warehouse (the stacker does not need a safety position and can directly return to workstation 1 when avoidance is required), 2 for the small cache workstation, 3 for the avoidance safety position of the small cache workstation to avoid the large cache workstation, 4 for the large cache workstation, and so on. Each moving component sets three state variables A, N, and S, where A represents the target workstation, N represents the current position, and S represents the current state (movement or standby). When A=0, it means that no target workstation is in standby state. Take a process as an example. The stacker is currently in a stereoscopic warehouse, the small cache gripper is at the small cache station, the large cache gripper is at the large cache station, and the material box gripper is at the rotary table station. The received work task is for the stacker to go to the small cache station to pick up materials. Then the stacker's A becomes 2, N is 1, and the A of the adjacent moving part small cache gripper is judged to be 0, N is 2, and S is 0. Based on the preset motion rules, the A of the small cache gripper can be changed to 3. Considering a case where the small cache gripper's avoidance safety position is at the large cache station, 3 and 4 can be regarded as equivalent, that is, physically as one position. Similarly, when the A of the small cache gripper becomes 3, it is judged that the A of the adjacent moving part large cache gripper is 0, N is 4, and S is 0. Based on the preset motion rules, the A of the large cache gripper can be changed to 6 (equivalent to 5). Consider a case where the avoidance safety position of the material box clamp is on the left side of the rotary table station (that is, it does not overlap with the rotary table station). It is judged that the A of the adjacent moving part material box clamp is 0, N is 7, and S is 0. Based on the preset motion rule, the S of the large cache clamp can be changed to 1, and it starts to move to position 6. At the same time, the small cache clamp judges that the A of the adjacent moving part large cache clamp is 6, N is 3, and S is 1. Based on the preset motion rule, the S of the small cache clamp can be changed to 1, and it starts to move to position 4 at the same speed as the large cache clamp. At the same time, the stacker judges that the A of the adjacent moving part small cache clamp is 4, N is 2, and S is 1. Based on the preset motion rule, the S of the stacker can be changed to 1, and it starts to move to position 1 at the same speed as the small cache clamp. After all moving parts are in place, the corresponding N value immediately becomes the corresponding A value, the corresponding A value becomes 0, and the S value becomes 0.

[0062] The technical solution provided by the embodiment of the present invention first obtains the work tasks of the moving parts, and determines the target positions of the moving parts according to the work tasks. Then, for each two adjacent moving parts, the optimal movement mode of the two adjacent moving parts is determined based on the positional relationship between the target positions and the current positions of the moving parts and the time taken to complete the work tasks. Then, the optimal scheduling results of all moving parts are determined based on the obtained optimal movement modes, so that the various moving parts can be scheduled to work based on the preset movement rules according to the optimal scheduling results. The good coordination and scheduling of the various moving parts at various positions are coordinated, and the parallel work of multiple moving parts is realized, so that the various positions of the real-time automatic control equipment can be operated in sequence as needed in a stable, safe and efficient manner, thereby improving the overall work efficiency of the equipment.

[0063] Embodiment 2

[0064] Figure 3 This is a schematic diagram of the structure of the motion component scheduling device for multi-station product processing provided in the second embodiment of the present invention. The device can be implemented by hardware and / or software, and can generally be integrated into a computer device to execute the motion component scheduling method for multi-station product processing provided in any embodiment of the present invention. Figure 3 As shown, the device comprises:

[0065] A work task acquisition module 31 is used to acquire the work task of the moving component and determine the target position of the moving component according to the work task;

[0066] The optimal motion mode determination module 32 is used to determine the optimal motion mode of the two adjacent moving parts for each two adjacent moving parts according to the positional relationship between the target workstation and the current position of the moving parts and based on the time taken to complete the work task;

[0067] An optimal scheduling result determination module 33, used to determine the optimal scheduling results of all the moving parts according to the optimal motion mode;

[0068] The motion component scheduling module 34 is used to schedule each of the motion components to work according to the optimal scheduling result and based on preset motion rules.

[0069] The technical solution provided by the embodiment of the present invention first obtains the work tasks of the moving parts, and determines the target positions of the moving parts according to the work tasks. Then, for each two adjacent moving parts, the optimal movement mode of the two adjacent moving parts is determined based on the positional relationship between the target positions and the current positions of the moving parts and the time taken to complete the work tasks. Then, the optimal scheduling results of all moving parts are determined based on the obtained optimal movement modes, so that the various moving parts can be scheduled to work based on the preset movement rules according to the optimal scheduling results. The good coordination and scheduling of the various moving parts at various positions are coordinated, and the parallel work of multiple moving parts is realized, so that the various positions of the real-time automatic control equipment can be operated in sequence as needed in a stable, safe and efficient manner, thereby improving the overall work efficiency of the equipment.

[0070] On the basis of the above technical solution, optionally, the moving parts scheduling device for multi-station product processing further includes:

[0071] An identification value setting module is used to set identification values ​​for each workstation and avoidance safety position according to the arrangement order of each workstation before determining the optimal movement mode of two adjacent moving parts based on the positional relationship between the target workstation and the current position of the moving parts and based on the time consumed to complete the work task for each two adjacent moving parts.

[0072] Based on the above technical solution, optionally, the optimal motion mode determination module 32 is specifically used for:

[0073] When A n-1 >=A n >N n >N n-1 , respectively calculate the time required for moving part n to give priority to moving part n-1 so that moving part n-1 reaches the corresponding target station first, and the time required for moving part n-1 to reach A first. n -1 position waiting time required for the moving component n to reach the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode;

[0074] When A n <=A n-1 <N n-1 <N n , respectively calculate the time required for moving part n-1 to give way to moving part n so that moving part n can reach the corresponding target station first, and the time required for moving part n to reach A first. n-1 +1 position waiting time required for the moving part n-1 to reach the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode;

[0075] When A n <=Nn-1 <N n <=A n-1 , respectively calculating the time required for moving component n-1 to give priority to moving component n so that moving component n arrives at the corresponding target station first, and the time required for moving component n to give priority to moving component n-1 so that moving component n-1 arrives at the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode;

[0076] Among them, N n represents the current position of the moving part n, A n represents the target position of moving part n, N n-1 represents the current position of moving part n-1, A n-1 Indicates the target position of moving part n-1.

[0077] Based on the above technical solution, optionally, the optimal motion mode determination module 32 is further used to:

[0078] If there is a conflict between the first optimal motion mode between moving component n and moving component n-1, and the second optimal motion mode between moving component n and moving component n+1, then based on the time taken to complete the work task, the optimal motion mode of moving component n, moving component n-1 and moving component n+1 is determined from the non-conflicting motion mode combinations.

[0079] On the basis of the above technical solution, optionally, the preset movement rules include:

[0080] After the moving component moves to the corresponding target position, updating the current position of the moving component to the target position, and setting the target position and current state of the moving component to initial values;

[0081] When the moving component needs to go to a new workstation, setting the target workstation of the moving component to the identification value of the new workstation;

[0082] If the current position, target position and current state of the moving component and its adjacent moving components meet the first preset condition, the moving component is controlled to start moving and the current state of the moving component is set to moving; otherwise, the moving component is controlled to wait in a standby state;

[0083] If the current position, target position and current state of the moving component and its adjacent moving component meet the second preset condition, the target position of the adjacent moving component is updated.

[0084] Based on the above technical solution, optionally, the optimal motion mode determination module 32 is specifically used for:

[0085] The time consumption is calculated according to the average movement time of two adjacent moving parts from the current position to the target workstation, the working time at the target position, and the parallel working time.

[0086] Based on the above technical solution, optionally, the moving component includes multiple movers in a single linear motor.

[0087] The moving parts scheduling device for multi-station product processing provided by the embodiment of the present invention can execute the moving parts scheduling method for multi-station product processing provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] It is worth noting that in the above-mentioned embodiment of the motion component scheduling device for multi-station product processing, the various units and modules included are divided only according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0089] Embodiment 3

[0090] Figure 4 The schematic diagram of the structure of the computer device provided for the third embodiment of the present invention shows a block diagram of an exemplary computer device suitable for implementing the implementation mode of the present invention. Figure 4 The computer device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention. Figure 4 As shown, the computer device includes a processor 41, a memory 42, an input device 43 and an output device 44; the number of processors 41 in the computer device can be one or more. Figure 4 Taking a processor 41 as an example, the processor 41, memory 42, input device 43 and output device 44 in the computer device can be connected through a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0091] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the motion component scheduling method for multi-station product processing in the embodiment of the present invention (for example, the work task acquisition module 31, the optimal motion mode determination module 32, the optimal scheduling result determination module 33 and the motion component scheduling module 34 in the motion component scheduling device for multi-station product processing). The processor 41 executes various functional applications and data processing of the computer device by running the software programs, instructions and modules stored in the memory 42, that is, realizes the above-mentioned motion component scheduling method for multi-station product processing.

[0092] The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 42 may further include a memory remotely arranged relative to the processor 41, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0093] The input device 43 can be used to obtain the working tasks of the moving parts, and generate key signal inputs related to user settings and function control of the computer device, etc. The output device 44 can be used to send control instructions to various moving parts, etc.

[0094] Embodiment 4

[0095] Embodiment 4 of the present invention further provides a storage medium containing computer executable instructions, which, when executed by a computer processor, is used to execute a method for scheduling moving parts for multi-station product processing, the method comprising:

[0096] Acquire a work task of a moving component, and determine a target work position of the moving component according to the work task;

[0097] For every two adjacent moving parts, according to the positional relationship between the target workstation and the current position of the moving parts, and based on the time taken to complete the work task, determine the optimal movement mode of the two adjacent moving parts;

[0098] Determining the optimal scheduling results of all the moving parts according to the optimal movement mode;

[0099] According to the optimal scheduling result, each of the moving parts is scheduled to work based on preset movement rules.

[0100] The storage medium may be any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system, which is connected to the computer system via a network (such as the Internet). The second computer system may provide program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). The storage medium may store program instructions (e.g., embodied as a computer program) that may be executed by one or more processors.

[0101] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention is not limited to the method operations described above, and can also execute related operations in the motion component scheduling method for multi-station product processing provided in any embodiment of the present invention.

[0102] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0103] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0104] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0105] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for scheduling moving parts for multi-station product processing, characterized in that: include: Acquire a work task of a moving component, and determine a target work position of the moving component according to the work task; wherein the moving component includes a plurality of movers in a single linear motor; For every two adjacent moving parts, according to the positional relationship between the target workstation and the current position of the moving parts, and based on the time taken to complete the work task, determine the optimal movement mode of the two adjacent moving parts; Determining the optimal scheduling results of all the moving parts according to the optimal movement mode; According to the optimal scheduling result, each of the moving parts is scheduled to work based on preset movement rules.

2. The method for scheduling moving parts for multi-station product processing according to claim 1, characterized in that: Before determining the optimal motion mode of two adjacent moving parts for each two adjacent moving parts according to the positional relationship between the target workstation and the current position of the moving parts and based on the time taken to complete the work task, the method further includes: According to the arrangement order of each workstation, an identification value is set for each of the workstations and the avoidance safety position.

3. The method for scheduling moving parts for multi-station product processing according to claim 2, characterized in that: The determining of the optimal motion mode of two adjacent moving parts based on the positional relationship between the target workstation and the current position of the moving parts and the time taken to complete the work task comprises: When A n-1 >=A n >N n >N n-1 , respectively calculate the time required for moving part n to give priority to moving part n-1 so that moving part n-1 reaches the corresponding target station first, and the time required for moving part n-1 to reach A first. n -1 position waiting time required for the moving component n to reach the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode; When A n <= A n-1 <N n-1 < N n , respectively calculate the time required for moving part n-1 to give way to moving part n so that moving part n can reach the corresponding target station first, and the time required for moving part n to reach A first. n-1 +1 position waiting time required for the moving part n-1 to reach the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode; When A n <= N n-1 <N n <= A n-1 , respectively calculating the time required for moving component n-1 to give priority to moving component n so that moving component n arrives at the corresponding target station first, and the time required for moving component n to give priority to moving component n-1 so that moving component n-1 arrives at the corresponding target station first, and determining the movement mode with less time consumption as the optimal movement mode; Among them, N n represents the current position of the moving part n, A n represents the target position of moving part n, N n-1 represents the current position of moving part n-1, A n-1 Indicates the target position of moving part n-1.

4. The method for scheduling moving parts for multi-station product processing according to claim 3 is characterized in that: The method of determining the optimal motion mode of two adjacent moving parts based on the positional relationship between the target workstation and the current position of the moving parts and the time taken to complete the work task further includes: If there is a conflict between the first optimal motion mode between moving component n and moving component n-1, and the second optimal motion mode between moving component n and moving component n+1, then based on the time taken to complete the work task, the optimal motion mode of moving component n, moving component n-1 and moving component n+1 is determined from the non-conflicting motion mode combinations.

5. The method for scheduling moving parts for multi-station product processing according to claim 2, characterized in that: The preset movement rules include: After the moving component moves to the corresponding target position, updating the current position of the moving component to the target position, and setting the target position and current state of the moving component to initial values; When the moving component needs to go to a new workstation, setting the target workstation of the moving component to the identification value of the new workstation; If the current position, target position and current state of the moving component and its adjacent moving components meet the first preset condition, the moving component is controlled to start moving and the current state of the moving component is set to moving; otherwise, the moving component is controlled to wait in a standby state; If the current position, target position and current state of the moving component and its adjacent moving component meet the second preset condition, the target position of the adjacent moving component is updated.

6. The method for scheduling moving parts for multi-station product processing according to claim 1, characterized in that: The determining of the optimal motion mode of two adjacent moving parts based on the time taken to complete the work task includes: The time consumption is calculated according to the average movement time of two adjacent moving parts from the current position to the target workstation, the working time at the target position, and the parallel working time.

7. The method for scheduling moving parts for multi-station product processing according to claim 1, characterized in that: The moving part includes a plurality of movers in a single linear motor.

8. A moving parts scheduling device for multi-station product processing, characterized in that: include: A work task acquisition module, used to acquire the work task of the moving component and determine the target work position of the moving component according to the work task; wherein the moving component includes a plurality of movers in a single linear motor; An optimal motion mode determination module is used to determine the optimal motion mode of two adjacent moving parts for each two adjacent moving parts according to the positional relationship between the target workstation and the current position of the moving parts and based on the time taken to complete the work task; An optimal scheduling result determination module, used to determine the optimal scheduling results of all the moving parts according to the optimal motion mode; The motion component scheduling module is used to schedule each of the motion components to work based on the optimal scheduling result and preset motion rules.

9. A computer device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the motion component scheduling method for multi-station product processing as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the moving parts scheduling method for multi-station product processing as described in any one of claims 1-7 is implemented.

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