Sorting control method and sorting control device for sorting system

Abstract

The present application discloses a sorting control method and a sorting control device for a sorting system, which belongs to the field of engineering machinery manufacturing. The sorting control method includes: obtaining part information of a group of parts to be sorted, wherein the group of parts to be sorted includes subgroups of parts to be sorted of multiple process types, and the first number of subgroups of parts to be sorted is greater than the second number of sorting operation machines; according to the part information of the group of parts to be sorted, determining the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the group of parts to be sorted; according to the subgroup sorting operation time and the total sorting operation time, determining the sorting operation time proportion corresponding to each subgroup of parts to be sorted; according to multiple sorting operation time proportions, determining the target sorting operation allocation results of multiple sorting operation machines in the sorting system with respect to multiple subgroups of parts to be sorted; and controlling the operation of the sorting system according to the target sorting operation allocation results. The present application can improve the working efficiency of the production line.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery manufacturing, and in particular to a sorting control method and a sorting control device for a sorting system. Background Art

[0002] In the construction machinery manufacturing industry, the technology of automatic sorting using sorting machines (such as truss manipulators, sorting robots and palletizing manipulators) on production lines has received widespread attention. Taking sorting robots as an example, intelligent sorting technology can replace manual sorting technology to further reduce labor costs. However, most of the current research is on the path planning of sorting robots, such as using PLC to debug the motion trajectory of the sorting robot in the early stage, and optimizing the path control of the sorting robot to improve the sorting efficiency of the sorting robot, or adjusting and optimizing the layout of the entire production workshop or the distribution of the sorting robot, and reasonably allocating resources by optimizing the number of sorting robots to complete the planning and design of the production line. Whether it is planning and designing the layout, or debugging the motion trajectory and path of the sorting robot, they all belong to the early planning stage. For the production line that has been running, how to allocate sorting operations to the sorting machine without reducing or increasing equipment, thereby improving the work efficiency of the entire production line, has become an urgent problem to be solved. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a sorting control method and a sorting control device, a processor and a storage medium for a sorting system, so as to solve the problem of low working efficiency of the production line in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a sorting control method for a sorting system, the sorting system comprising a plurality of sorting operation machines, and the sorting control method comprises:

[0005] Acquire part information of a group of parts to be sorted, wherein the group of parts to be sorted includes subgroups of parts to be sorted of multiple process types, and a first number of the subgroups of parts to be sorted is greater than a second number of sorting operation machines;

[0006] Determine the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the group of parts to be sorted according to the part information of the group of parts to be sorted;

[0007] According to the subgroup sorting operation time and the total sorting operation time, determine the proportion of sorting operation time corresponding to each subgroup of parts to be sorted;

[0008] According to the time proportions of multiple sorting operations, target sorting operation allocation results of multiple sorting operation machines in the sorting system for multiple subgroups of parts to be sorted are determined;

[0009] Control the sorting system work according to the target sorting job allocation results.

[0010] In an embodiment of the present application, the part information of the part group to be sorted includes the third quantity of the parts to be sorted in each subgroup of parts to be sorted, the proportion of the first quantity of the parts to be sorted of each part size in each subgroup of parts to be sorted, and the preset sorting operation time corresponding to the parts to be sorted of each part size in each subgroup of parts to be sorted; according to the part information of the part group to be sorted, the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the part group to be sorted are determined, including: determining the fourth quantity of the parts to be sorted of each part size in each subgroup of parts to be sorted according to the third quantity and the proportion of the first quantity; determining the subgroup sorting operation time required for each subgroup of parts to be sorted according to the fourth quantity and the preset sorting operation time; adding the subgroup sorting operation time required for each subgroup of parts to be sorted to obtain the total sorting operation time required for the part group to be sorted.

[0011] In an embodiment of the present application, obtaining part information of a group of parts to be sorted includes: obtaining part information of a plurality of groups of parts to be sorted, the plurality of groups of parts to be sorted including groups of parts to be sorted corresponding to respective structural parts to be sorted of a plurality of structural part types; the part information of the group of parts to be sorted also includes a fifth quantity of structural parts to be sorted of each structural part type and a preset image acquisition time corresponding to the structural parts to be sorted; the total sorting operation time required for the plurality of groups of parts to be sorted also includes a total image acquisition time required for all structural parts to be sorted of the plurality of structural part types, and the total image acquisition time is determined according to the fifth quantity and the preset image acquisition time; the subgroup sorting operation time required for each subgroup of parts to be sorted in the plurality of groups of parts to be sorted also includes a subgroup image acquisition time required for each subgroup of parts to be sorted in the plurality of groups of parts to be sorted, and determining the subgroup image acquisition time includes: determining a second quantity proportion of the parts to be sorted in each subgroup of parts to be sorted in the plurality of groups of parts to be sorted in the parts to be sorted in the plurality of groups of parts to be sorted; and determining a product value of the total image acquisition time and each second quantity proportion to obtain the image acquisition time of each subgroup.

[0012] In an embodiment of the present application, according to multiple sorting operation time proportions, target sorting operation allocation results of multiple sorting operation machines in a sorting system with respect to multiple subgroups of parts to be sorted are determined, including: according to multiple sorting operation time proportions, N sets are obtained, wherein N is the difference between the first quantity and the second quantity plus 1, the first set of the N sets is a set composed of multiple sorting operation time proportions, the mth set of the N sets is a set composed of the sum of any m sorting operation time proportions, and the value range of m is 2 to N; the N sets are summarized to obtain a candidate set including candidate allocation results, wherein the candidate allocation results include the first The method comprises the steps of: selecting a second number of candidate allocation results from the candidate set to obtain a first candidate sorting operation allocation result, wherein the sum of the candidate allocation results in the first candidate sorting operation allocation result is 1, and the process types of the subgroups of parts to be sorted corresponding to the candidate allocation results are different; determining a candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result; and determining the first candidate sorting operation allocation result as the target sorting operation allocation result when the candidate allocation result differences between any two candidate allocation results in the first candidate sorting operation allocation result are both within a preset difference range.

[0013] In an embodiment of the present application, the preset difference range includes a first preset difference range and a second preset difference range, and the positive upper limit threshold of the first preset difference range is less than the positive lower limit threshold of the second preset difference range; when the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result is within the preset difference range, determining the first candidate sorting operation allocation result as the target sorting operation allocation result includes: when the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result is within the first preset difference range, determining the first candidate sorting operation allocation result as the target sorting operation allocation result; when there are two candidate allocation results in the first candidate sorting operation allocation result whose candidate allocation result difference is within the second preset difference range, determining the first candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results as the target sorting operation allocation result.

[0014] In an embodiment of the present application, the method further includes: when there are two candidate allocation results in the first candidate sorting operation allocation results, the candidate allocation result to be scheduled is determined when the candidate allocation result difference between the two candidate allocation results is not within a preset difference range, wherein the candidate allocation result to be scheduled is the maximum value of the first candidate sorting operation allocation results; reassigning the candidate allocation result to be scheduled to any value in the minimum value set, wherein the minimum value set is a set consisting of the minimum values ​​in the first set and the mth set; reselecting the candidate allocation results of the second number minus 1 from the candidate set, and obtaining the second candidate sorting operation allocation based on the reassigned candidate allocation results to be scheduled. The candidate allocation results in the second candidate sorting operation allocation results include the reassigned candidate allocation results to be scheduled and the reselected candidate allocation results, the sum of the reassigned candidate allocation results to be scheduled and the reselected candidate allocation results is 1, and the process types of the corresponding subgroups of parts to be sorted are different; the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results is determined; when the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within a preset difference range, the second candidate sorting operation allocation result is determined to be the target sorting operation allocation result.

[0015] In an embodiment of the present application, the preset difference range includes a first preset difference range and a second preset difference range, and the positive upper limit threshold of the first preset difference range is less than the positive lower limit threshold of the second preset difference range; when the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within the preset difference range, determining the second candidate sorting operation allocation result as the target sorting operation allocation result includes: when the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within the first preset difference range, determining the second candidate sorting operation allocation result as the target sorting operation allocation result; when there are two candidate allocation results in the second candidate sorting operation allocation results whose candidate allocation result difference is within the second preset difference range, determining the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results as the target sorting operation allocation result.

[0016] In the embodiment of the present application, it also includes: when there are two candidate allocation results in the second candidate sorting operation allocation results whose candidate allocation result difference is not within a preset difference range, the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences of any two candidate allocation results is determined as the target sorting operation allocation result.

[0017] In an embodiment of the present application, the sorting system communicates with multiple movable transport devices. After controlling the operation of the sorting system according to the target sorting operation allocation result, it also includes: obtaining status information of the multiple movable transport devices and first distances between the multiple movable transport devices and the sorting system respectively; determining a first movable transport device according to the status information and the first distance, wherein the first movable transport device is a movable transport device among the multiple movable transport devices whose status information is an idle state and whose first distance is the shortest; and controlling the first movable transport device to transport the parts after the sorting system performs the sorting operation.

[0018] In an embodiment of the present application, it also includes: obtaining the second distances between multiple movable transport devices and the part carrying device storage area respectively; determining the second movable transport device based on the status information and the second distance, wherein the second movable transport device is a movable transport device whose status information is an idle state and whose second distance is the shortest among the multiple movable transport devices; controlling the second movable transport device to transport the part carrying device in the part carrying device storage area to the unloading point of the sorting system, so that the parts at the unloading point can be carried by the part carrying device.

[0019] A second aspect of the present application provides a processor configured to execute the above-mentioned sorting control method for a sorting system.

[0020] A third aspect of the present application provides a sorting control device for a sorting system, comprising: a sorting system including a plurality of sorting operation machines; and a processor according to the above.

[0021] A fourth aspect of the present application provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the sorting control method for a sorting system described above is implemented.

[0022] Through the above technical scheme, the parts information of the part group to be sorted is obtained, and according to the parts information of the part group to be sorted, the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the part group to be sorted are determined, and then according to the subgroup sorting operation time and the total sorting operation time, the sorting operation time proportion corresponding to each subgroup of parts to be sorted is determined, so as to determine the target sorting operation allocation results of multiple sorting operation machines in the sorting system for multiple subgroups of parts to be sorted according to the multiple sorting operation time proportions, and control the operation of the sorting system according to the target sorting operation allocation results. The above technical scheme classifies the group of parts to be sorted based on the process type of the parts to be sorted to obtain multiple subgroups of parts to be sorted, determines the target sorting operation allocation results of multiple sorting operation machines for the multiple subgroups of parts to be sorted according to the sorting operation time proportion of each subgroup of parts to be sorted, controls the operation of the sorting system according to the target sorting operation allocation results, and utilizes the unique process attributes of the parts, that is, the process type, to allocate sorting operations to multiple sorting operation machines in the sorting system. The work efficiency of the entire production line can be improved without adding or reducing equipment. The target sorting operation allocation results of multiple sorting operation machines in the sorting system are determined according to the sorting operation time proportion of parts of different process types, and accurate sorting scheduling can be achieved, so that the entire production line can run more smoothly and balanced.

[0023] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0025] Figure 1 The flowchart of a sorting control method for a sorting system according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0027] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0029] Figure 1 The following schematically shows a flow chart of a sorting control method for a sorting system according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a sorting control method for a sorting system, the sorting system includes a plurality of sorting operation machines, and the sorting control method is applied to a processor as an example for explanation. The sorting control method may include the following steps:

[0030] Step S102, obtaining part information of a part group to be sorted, wherein the part group to be sorted includes part subgroups to be sorted of multiple process types, and a first number of the part subgroups to be sorted is greater than a second number of sorting operation machines.

[0031] Step S104, determining the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the group of parts to be sorted according to the part information of the group of parts to be sorted.

[0032] Step S106, determining the proportion of the sorting operation time corresponding to each subgroup of parts to be sorted according to the subgroup sorting operation time and the total sorting operation time.

[0033] Step S108, determining target sorting operation allocation results of multiple sorting operation machines in the sorting system with respect to multiple subgroups of parts to be sorted according to the time proportions of multiple sorting operations.

[0034] Step S110, controlling the operation of the sorting system according to the target sorting operation allocation result.

[0035] It can be understood that the sorting system is an operating system that can perform sorting tasks on parts, and specifically can include multiple sorting operation machines that perform sorting operations. The group of parts to be sorted is a collection of multiple parts that need to be sorted. The subgroup of parts to be sorted is a collection of parts of different process types that need to be sorted. When the group of parts to be sorted includes parts of multiple process types that need to be sorted, the group of parts to be sorted can include multiple subgroups of parts to be sorted. The first number is the number of subgroups of parts to be sorted, and the second number is the number of sorting operation machines. Part information may include but is not limited to information such as the number of parts. The subgroup sorting operation time is the predicted sorting operation time required for the parts in each subgroup of parts to be sorted. The total sorting operation time is the predicted sorting operation time required for the group of parts to be sorted. The sorting operation time proportion corresponding to each subgroup of parts to be sorted is the proportion of the sorting operation time required for each subgroup of parts to be sorted in the sorting operation time required for the group of parts to be sorted. The target sorting operation allocation result is the sorting operation allocation result of each sorting operation machine, which includes the subgroups of parts to be sorted corresponding to each sorting operation machine. Furthermore, the number of subgroups of parts to be sorted allocated to each sorting operation machine is greater than zero, that is, it can be one or more.

[0036] Specifically, the processor can obtain the part information of the part group to be sorted, and determine the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the part group to be sorted based on the part information of the part group to be sorted. For example, when the part information includes the number of parts in the subgroup of parts to be sorted and the estimated sorting operation time required for parts of each process type, the processor can determine the subgroup sorting operation time required for the subgroup of parts to be sorted based on the number of parts in the subgroup of parts to be sorted and the estimated sorting operation time required for parts of each process type, that is, take the product of the two as the subgroup sorting operation time, and add the subgroup sorting operation time required for each subgroup of parts to be sorted to obtain the total sorting operation time required for the part group to be sorted. The processor can then determine the proportion of sorting operation time corresponding to each subgroup of parts to be sorted based on the subgroup sorting operation time and the total sorting operation time, and thus determine the target sorting operation allocation results of multiple sorting operation machines in the sorting system regarding multiple subgroups of parts to be sorted based on multiple sorting operation time proportions. It can be understood that since the first number of subgroups of parts to be sorted is greater than the second number of sorting operation machines, the number of subgroups of parts to be sorted that will be allocated to each sorting operation machine is at least one, and the specific allocation result can be determined based on the proportion of sorting operation time corresponding to each subgroup of parts to be sorted. For example, multiple sorting operation time proportions can be sorted in order from large to small, and the subgroups of parts to be sorted with a larger proportion of sorting operation time can be allocated to each sorting operation machine separately, and the subgroups of parts to be sorted with a smaller proportion of sorting operation time can be allocated to one sorting operation machine together. After determining the target sorting operation allocation result, the processor can control the operation of the sorting system according to the target sorting operation allocation result, so that each sorting operation machine in the sorting system performs the sorting operation according to the target sorting operation allocation result, and each sorting operation machine completes the sorting operation of the assigned subgroup of parts to be sorted.

[0037] In an embodiment of the present application, by acquiring the parts information of the part group to be sorted, and determining the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the part group to be sorted based on the part information of the part group to be sorted, and then determining the sorting operation time proportion corresponding to each subgroup of parts to be sorted based on the subgroup sorting operation time and the total sorting operation time, thereby determining the target sorting operation allocation results of multiple sorting operation machines in the sorting system for multiple subgroups of parts to be sorted based on the multiple sorting operation time proportions, and controlling the operation of the sorting system based on the target sorting operation allocation results. The above technical scheme classifies the group of parts to be sorted based on the process type of the parts to be sorted to obtain multiple subgroups of parts to be sorted, determines the target sorting operation allocation results of multiple sorting operation machines for the multiple subgroups of parts to be sorted according to the sorting operation time proportion of each subgroup of parts to be sorted, controls the operation of the sorting system according to the target sorting operation allocation results, and utilizes the unique process attributes of the parts, that is, the process type, to allocate sorting operations to multiple sorting operation machines in the sorting system. The work efficiency of the entire production line can be improved without adding or reducing equipment. The target sorting operation allocation results of multiple sorting operation machines in the sorting system are determined according to the sorting operation time proportion of parts of different process types, and accurate sorting scheduling can be achieved, so that the entire production line can run more smoothly and balanced.

[0038] In one embodiment, the part information of the part group to be sorted includes the third quantity of the parts to be sorted in each subgroup of parts to be sorted, the proportion of the first quantity of the parts to be sorted of each part size in each subgroup of parts to be sorted, and the preset sorting operation time corresponding to the parts to be sorted of each part size in each subgroup of parts to be sorted; according to the part information of the part group to be sorted, the subgroup sorting operation time required for each subgroup of parts to be sorted and the total sorting operation time required for the part group to be sorted are determined, including: determining the fourth quantity of the parts to be sorted of each part size in each subgroup of parts to be sorted according to the third quantity and the proportion of the first quantity; determining the subgroup sorting operation time required for each subgroup of parts to be sorted according to the fourth quantity and the preset sorting operation time; adding the subgroup sorting operation time required for each subgroup of parts to be sorted to obtain the total sorting operation time required for the part group to be sorted.

[0039] It can be understood that the parts to be sorted are parts that need to be sorted. The third quantity is the number of parts to be sorted in the subgroup of parts to be sorted, which can be equivalent to the number of parts in the subgroup of parts to be sorted. The proportion of the first quantity is the proportion of the number of parts to be sorted of each part size in the subgroup of parts to be sorted to the parts to be sorted of all part sizes in the subgroup of parts to be sorted. The preset sorting operation time is the sorting operation time required for the pre-determined parts to be sorted. It can be understood that the preset sorting operation time corresponding to the parts of the same part size is the same. The fourth quantity is the number of parts to be sorted of each part size in the subgroup of parts to be sorted.

[0040] Specifically, the processor can determine the product value of the third number of parts to be sorted in each subgroup of parts to be sorted and the first number of parts to be sorted of each part size in each subgroup of parts to be sorted, so as to obtain the fourth number of parts to be sorted of each part size in each subgroup of parts to be sorted, and then determine the product value of the fourth number of parts to be sorted of each part size in each subgroup of parts to be sorted and the preset sorting operation time corresponding to the parts to be sorted of each part size in the subgroup of parts to be sorted, so as to obtain the sorting operation time required for the parts to be sorted of each part size in each subgroup of parts to be sorted, and add the sorting operation time required for the parts to be sorted of each part size in the subgroup of parts to be sorted to obtain the subgroup sorting operation time required for each subgroup of parts to be sorted. Furthermore, by adding the subgroup sorting operation time required for each subgroup of parts to be sorted, the total sorting operation time required for the group of parts to be sorted can be obtained.

[0041] In the embodiment of the present application, since the sorting time required for parts to be sorted of different part sizes is different, the subgroup sorting operation time required for each subgroup of parts to be sorted is determined based on the part size and the preset sorting operation time corresponding to the parts to be sorted of each part size, and then the total sorting operation time required for the group of parts to be sorted is determined. This can meet the sorting operation requirements of parts of different part sizes, improve the sorting operation efficiency, and further improve the work efficiency of the entire production line.

[0042] Furthermore, in some application scenarios, during the sorting operation, it may be necessary to capture images of a structure composed of multiple parts. Therefore, the sorting operation time may also include the time for image capture. In one embodiment, obtaining part information of a group of parts to be sorted includes: obtaining part information of a plurality of groups of parts to be sorted, the plurality of groups of parts to be sorted including groups of parts to be sorted corresponding to respective structural parts to be sorted of a plurality of structural part types; the part information of the group of parts to be sorted also includes a fifth quantity of structural parts to be sorted of respective structural part types and a preset image acquisition time corresponding to the structural parts to be sorted; a total sorting operation time required for the plurality of groups of parts to be sorted also includes a total image acquisition time required for all structural parts to be sorted of the plurality of structural part types, and the total image acquisition time is determined according to the fifth quantity and the preset image acquisition time; a subgroup sorting operation time required for each subgroup of parts to be sorted in the plurality of groups of parts to be sorted also includes a subgroup image acquisition time required for each subgroup of parts to be sorted in the plurality of groups of parts to be sorted, and determining the subgroup image acquisition time includes: determining a second quantity proportion of the parts to be sorted in each subgroup of parts to be sorted in the plurality of groups of parts to be sorted in the parts to be sorted in the plurality of groups of parts to be sorted; and determining a product value of the total image acquisition time and each second quantity proportion to obtain the image acquisition time of each subgroup.

[0043] It can be understood that the structural parts to be sorted are structural parts that need to undergo parts sorting operations. The structural parts to be sorted can be composed of multiple parts to be sorted, that is, each structural part to be sorted can have a corresponding group of parts to be sorted. The structural parts to be sorted can be, for example, steel plates. Different types of structural parts to be sorted have corresponding groups of parts to be sorted. Furthermore, the number of structural parts to be sorted of each type of structural part can be one or more, and the fifth number is the number of structural parts to be sorted of each type of structural part. It can be understood that the image acquisition time of each structural part to be sorted is usually fixed, and the preset image acquisition time is the predetermined time required to acquire an image of each structural part to be sorted, for example, 10 seconds.

[0044] The total image acquisition time required for all structural parts to be sorted of multiple structural parts types is the predicted total time required to perform image acquisition on all structural parts to be sorted of multiple structural parts types, which can be determined according to the fifth number of structural parts to be sorted of each structural part type and the preset image acquisition time corresponding to the structural parts to be sorted. Specifically, the fifth number of structural parts to be sorted of each structural part type and the preset image acquisition time corresponding to the structural parts to be sorted are multiplied to obtain the image acquisition time required for all structural parts to be sorted of each structural part type, and then the image acquisition time required for all structural parts to be sorted of each structural part type are added to obtain the total image acquisition time required for all structural parts to be sorted of multiple structural part types.

[0045] After obtaining a plurality of groups of parts to be sorted, the plurality of groups of parts to be sorted can be classified based on the type of process type, so as to obtain subgroups of parts to be sorted of a plurality of process types. The subgroup image acquisition time is the predicted image acquisition time required for the parts to be sorted in each subgroup of parts to be sorted among the plurality of groups of parts to be sorted, and the second quantity proportion is the quantity proportion of the parts to be sorted in each subgroup of parts to be sorted among the parts to be sorted in the plurality of groups of parts to be sorted. Specifically, when determining the subgroup image acquisition time, the second quantity proportion of the parts to be sorted in each subgroup of parts to be sorted among the parts to be sorted in the plurality of groups of parts to be sorted can be determined, and then the product value of the total image acquisition time and each second quantity proportion can be determined to obtain the subgroup image acquisition time required for each subgroup of parts to be sorted.

[0046] In the embodiment of the present application, the sorting operation process also takes into account the process of image acquisition of structural parts, that is, the total sorting operation time also includes the total image acquisition time required for image acquisition of all structural parts to be sorted of multiple structural parts types, and the subgroup sorting operation time also includes the time required for image acquisition of the parts to be sorted in the subgroup of parts to be sorted. The subgroup image acquisition time is determined according to the total image acquisition time, and the time required for the image acquisition process is added to the subgroup sorting operation time and the total sorting operation time, which can further improve the accuracy of the sorting operation allocation results and achieve more accurate sorting scheduling.

[0047] In one embodiment, according to multiple sorting operation time proportions, target sorting operation allocation results of multiple sorting operation machines in a sorting system with respect to multiple subgroups of parts to be sorted are determined, including: obtaining N sets according to the multiple sorting operation time proportions, wherein N is the difference between the first quantity and the second quantity plus 1, the first set of the N sets is a set composed of multiple sorting operation time proportions, the mth set of the N sets is a set composed of the sum of any m sorting operation time proportions, and the value range of m is 2 to N; summarizing the N sets to obtain a candidate set including candidate allocation results, wherein the candidate allocation results include the first The method comprises the steps of: selecting a second number of candidate allocation results from the candidate set to obtain a first candidate sorting operation allocation result, wherein the sum of the candidate allocation results in the first candidate sorting operation allocation result is 1, and the process types of the subgroups of parts to be sorted corresponding to the candidate allocation results are different; determining a candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result; and determining the first candidate sorting operation allocation result as the target sorting operation allocation result when the candidate allocation result differences between any two candidate allocation results in the first candidate sorting operation allocation result are both within a preset difference range.

[0048] It can be understood that the N sets include a first set and an mth set, the first set includes multiple sorting operation time proportions, the mth set is a set consisting of the sum of any m sorting operation time proportions among the multiple sorting operation time proportions, the value range of m is 2 to N, N is the difference between the first number and the second number plus 1, for example, when the first number of the subgroups of parts to be sorted is 8, and the second number of sorting operation machines is 6, then N=8-6+1=3, that is, 3 sets can be obtained according to the 8 sorting operation time proportions, namely: the first set including 8 sorting operation time proportions, the second set consisting of the sum of any 2 sorting operation time proportions among the 8 sorting operation time proportions, and the third set consisting of the sum of any 3 sorting operation time proportions among the 8 sorting operation time proportions.

[0049] The candidate set is a set obtained by summarizing N sets, and the candidate allocation result is a value in the candidate set, which includes all values ​​in the first set and the mth set. The first candidate sorting operation allocation result is a preliminarily determined sorting operation allocation result, specifically a set obtained by selecting the second number of candidate allocation results from the candidate set, wherein the first candidate sorting operation allocation result must meet the following conditions: the sum of the candidate allocation results in the first candidate sorting operation allocation result is 1, so as to ensure that the sum of the proportion of the sorting operation time of the subgroups allocated to all sorting operation machines is 1, and the process types of the subgroups of parts to be sorted corresponding to each candidate allocation result are different, that is, each sorting operation machine is allocated to a different subgroup of parts to be sorted, so as to avoid duplication of operations.

[0050] It is understandable that when the candidate allocation result is a value among multiple sorting operation time proportions, that is, when the candidate allocation result is a value in the first set, the candidate allocation result corresponds to a certain subgroup of parts to be sorted; when the candidate allocation result is the sum of any m (for example, m is 2) sorting operation time proportions, that is, when the candidate allocation result is a value in the mth set, the candidate allocation result corresponds to the subgroup of parts to be sorted represented by the m sorting operation time proportions, that is, the subgroup of parts to be sorted specifically corresponding to the candidate allocation result includes the subgroup of parts to be sorted represented by the m sorting operation time proportions. The difference in candidate allocation results is the difference between the candidate allocation results. The preset difference range is a preset range of better candidate allocation result differences, which is usually smaller, for example, it can be a range between -5% and +5%, or a range between -3% and +3%.

[0051] Specifically, the processor can obtain N sets based on the time proportions of multiple sorting operations, and summarize the N sets to obtain a candidate set including candidate allocation results, and then select a second number of candidate allocation results from the candidate set to obtain a first candidate sorting operation allocation result, thereby determining the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result. When the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result is within a preset difference range, the processor can determine that the current first candidate sorting operation allocation result is the target sorting operation allocation result.

[0052] In an embodiment of the present application, N sets obtained based on multiple sorting operation time proportions are aggregated to obtain a candidate set including candidate allocation results, and then a first candidate sorting operation allocation result is obtained based on the candidate set. If the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result is within a preset difference range, the first candidate sorting operation allocation result can be determined as the target sorting operation allocation result, and a better target sorting operation allocation result can be obtained in a shorter time.

[0053] Furthermore, in one embodiment, the above-mentioned sorting control method may further include: when there are two candidate allocation results in the first candidate sorting operation allocation results, the candidate allocation result to be scheduled is determined when the candidate allocation result difference between the two candidate allocation results is not within the preset difference range, wherein the candidate allocation result to be scheduled is the maximum value in the first candidate sorting operation allocation results; reassigning the candidate allocation result to be scheduled to any value in the minimum value set, wherein the minimum value set is a set consisting of the minimum values ​​in the first set and the mth set; reselecting the candidate allocation results of the second number minus 1 from the candidate set, and obtaining the second number based on the reassigned candidate allocation results to be scheduled. The candidate sorting operation allocation results, wherein the candidate allocation results in the second candidate sorting operation allocation results include the reassigned candidate allocation results to be scheduled and the reselected candidate allocation results, the sum of the reassigned candidate allocation results to be scheduled and the reselected candidate allocation results is 1, and the process types of the corresponding subgroups of parts to be sorted are different; determining the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results; when the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within a preset difference range, determining the second candidate sorting operation allocation result as the target sorting operation allocation result.

[0054] It can be understood that the candidate allocation result to be scheduled is the candidate allocation result with the largest value in the first candidate sorting job allocation result, that is, the maximum value in the first candidate sorting job allocation result. The minimum value set is a set composed of the minimum values ​​in the first set and the mth set, that is, the minimum value set includes N values. The reassigned candidate allocation result to be scheduled is the candidate allocation result to be scheduled that is re-determined based on the minimum value set. The second candidate sorting job allocation result is the sorting job allocation result that is re-determined based on the first candidate sorting job allocation result, which includes the reassigned candidate allocation result to be scheduled and the reselected candidate allocation result. The second candidate sorting job allocation result must meet the following conditions: the sum of the reassigned candidate allocation result to be scheduled and the reselected candidate allocation result is 1, and the process types of the subgroups of parts to be sorted corresponding to the reassigned candidate allocation result to be scheduled and the reselected candidate allocation result are different.

[0055] Specifically, when there are two candidate allocation results in the first candidate sorting operation allocation results whose candidate allocation result difference is not within a preset difference range, the maximum value in the first candidate sorting operation allocation results is determined as the candidate allocation result to be scheduled, and the candidate allocation result to be scheduled is reassigned to any value in the minimum value set, the minimum value set is a set composed of the minimum values ​​in the first set and the mth set, and the candidate allocation results of the second number minus 1 are reselected from the candidate set, and based on the reassigned candidate allocation results to be scheduled, the second candidate sorting operation allocation result is obtained, and the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation result is determined. When the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation result is both within the preset difference range, the second candidate sorting operation allocation result is determined as the target sorting operation allocation result.

[0056] In an embodiment of the present application, when there are two candidate allocation results in the first candidate sorting operation allocation results whose candidate allocation result difference is not within the preset difference range, it means that the gap between the candidate allocation results in the first candidate sorting operation allocation result is large, that is, there are sorting operation machines with uneven sorting operation distribution. In order to balance the utilization rate of each sorting operation machine, it is necessary to perform secondary scheduling of the sorting operation content at this time to achieve uniform sorting scheduling and improve the efficiency and capacity of the production line.

[0057] In one embodiment, the preset difference range includes a first preset difference range and a second preset difference range, and the positive upper limit threshold of the first preset difference range is less than the positive lower limit threshold of the second preset difference range; when the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation results are both within the preset difference range, determining the first candidate sorting operation allocation result as the target sorting operation allocation result includes: when the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation results are both within the first preset difference range, determining the first candidate sorting operation allocation result as the target sorting operation allocation result; when there are two candidate allocation results in the first candidate sorting operation allocation results, the candidate allocation result difference between the two candidate allocation results is both within the second preset difference range, determining the first candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results as the target sorting operation allocation result.

[0058] It can be understood that the first preset difference range is a preset difference range with a smaller value, for example, greater than -3% and less than +3%, and the second preset difference range is a preset difference range with a larger value, for example, 3% to 10% or -3% to -10%.

[0059] Specifically, if the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result is within the first preset difference range, the first candidate sorting operation allocation result can be directly determined as the target sorting operation allocation result. If there are two candidate allocation results in the first candidate sorting operation allocation result whose candidate allocation result difference is within the second preset difference range, the first candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results can be determined as the target sorting operation allocation result, that is, the first candidate sorting operation allocation result with the smallest difference between all candidate allocation results is determined as the target sorting operation allocation result, that is, the optimal first candidate sorting operation allocation result is used as the target sorting operation allocation result.

[0060] In the embodiment of the present application, the preset difference range includes a first preset difference range and a second preset difference range, which can further refine the granularity of the sorting operation allocation. When the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation result is within the first preset difference range, the first candidate sorting operation allocation result is directly determined as the target sorting operation allocation result. When there are two candidate allocation results in the first candidate sorting operation allocation result whose candidate allocation result difference is within the second preset difference range, the first candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results is determined as the target sorting operation allocation result, which can optimize and uniformize the sorting operation allocation results.

[0061] In one embodiment, the preset difference range includes a first preset difference range and a second preset difference range, and the positive upper limit threshold of the first preset difference range is less than the positive lower limit threshold of the second preset difference range; when the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within the preset difference range, determining the second candidate sorting operation allocation result as the target sorting operation allocation result includes: when the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within the first preset difference range, determining the second candidate sorting operation allocation result as the target sorting operation allocation result; when there are two candidate allocation results in the second candidate sorting operation allocation results whose candidate allocation result difference is within the second preset difference range, determining the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results as the target sorting operation allocation result.

[0062] It can be understood that the first preset difference range is a preset difference range with a smaller value, for example, greater than -3% and less than +3%, and the second preset difference range is a preset difference range with a larger value, for example, 3% to 10% or -3% to -10%.

[0063] Specifically, if the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within the first preset difference range, the second candidate sorting operation allocation result can be directly determined as the target sorting operation allocation result. If there are two candidate allocation results in the second candidate sorting operation allocation results whose candidate allocation result difference is within the second preset difference range, the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results can be determined as the target sorting operation allocation result, that is, the second candidate sorting operation allocation result with the smallest difference between all candidate allocation results is determined as the target sorting operation allocation result, that is, the optimal second candidate sorting operation allocation result is used as the target sorting operation allocation result.

[0064] In the embodiment of the present application, the preset difference range includes a first preset difference range and a second preset difference range, which can further refine the granularity of the sorting operation allocation. When the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation result is within the first preset difference range, the second candidate sorting operation allocation result is directly determined as the target sorting operation allocation result. When there are two candidate allocation results in the second candidate sorting operation allocation result whose candidate allocation result difference is within the second preset difference range, the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results is determined as the target sorting operation allocation result, which can optimize and uniformize the sorting operation allocation results.

[0065] In one embodiment, the above-mentioned sorting control method may further include: when there are two candidate allocation results in the second candidate sorting operation allocation results whose candidate allocation result difference is not within a preset difference range, the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences of any two candidate allocation results is determined as the target sorting operation allocation result.

[0066] In one embodiment, the sorting system communicates with multiple movable transport devices. After controlling the operation of the sorting system according to the target sorting operation allocation result, it can also include: obtaining status information of the multiple movable transport devices and first distances between the multiple movable transport devices and the sorting system respectively; determining a first movable transport device according to the status information and the first distance, wherein the first movable transport device is a movable transport device whose status information is an idle state and whose first distance is the shortest among the multiple movable transport devices; and controlling the first movable transport device to transport the parts after the sorting system performs the sorting operation.

[0067] It can be understood that the movable transport device is a device that can move and transport parts, such as an automated guided vehicle (AGV). The status information may include an idle state and a working state. The first distance is the distance between the movable transport device and the sorting system. The first movable transport device is a movable transport device whose status information is an idle state and whose first distance is the shortest among the multiple movable transport devices.

[0068] Specifically, the processor can obtain status information of multiple movable transport devices and the first distances between the multiple movable transport devices and the sorting system, and then determine the first movable transport device based on the status information and the first distance, wherein the first movable transport device is the movable transport device whose status information is an idle state and whose first distance is the shortest among the multiple movable transport devices, and control the first movable transport device to transport the parts after the sorting system performs the sorting operation.

[0069] In an embodiment of the present application, by controlling the first movable transport device among multiple movable transport devices whose status information is an idle state and whose first distance from the sorting system is the shortest, the parts after the sorting system performs the sorting operation are transported, the transportation efficiency of the movable transport device can be improved, the optimal scheduling of the movable transport device can be achieved, and the overall operation efficiency of the production line can be improved.

[0070] In one embodiment, the above-mentioned sorting control method may also include: obtaining the second distances between multiple movable transport devices and the part carrier storage area respectively; determining the second movable transport device based on the status information and the second distance, wherein the second movable transport device is a movable transport device whose status information is an idle state and whose second distance is the shortest among the multiple movable transport devices; controlling the second movable transport device to transport the part carrier in the part carrier storage area to the unloading point of the sorting system, so that the parts at the unloading point can be carried by the part carrier.

[0071] It can be understood that the part carrier is a device for carrying or loading parts, such as a pallet, and the part carrier storage area is an area for storing the part carrier, such as a warehouse for storing pallets. The second distance is the distance between the movable transport device and the part carrier storage area. The second movable transport device is a movable transport device whose status information is an idle state and whose second distance is the shortest among the multiple movable transport devices.

[0072] Specifically, the processor can obtain the second distances between multiple movable transport devices and the part carrier storage area respectively, and determine the second movable transport device based on the status information of the movable transport device and the second distance, wherein the second movable transport device is the movable transport device whose status information is idle and whose second distance is the shortest among the multiple movable transport devices, and then control the second movable transport device to transport the part carrier in the part carrier storage area to the unloading point of the sorting system, so that the parts at the unloading point can be carried by the part carrier.

[0073] In an embodiment of the present application, by controlling the second movable transport device whose status information is idle and whose second distance from the part carrying device storage area is the shortest among multiple movable transport devices, the part carrying device in the part carrying device storage area is transported to the unloading point of the sorting system, so that the parts at the unloading point can be carried by the part carrying device, the loading efficiency of the parts at the unloading point can be improved, the optimal scheduling of the movable transport device can be achieved, and the overall operation efficiency of the production line can be further improved.

[0074] In the construction machinery industry, there are many types of manufactured products, and the demand for planned production is increasing. The unloading workshop is different from the picking in the distribution center in the logistics industry. It belongs to the decentralized sorting of complex types of single items, which has higher requirements for the sorting management system, execution system, and control system. In the sorting and scheduling system, not only the path planning of the sorting robot is required, but also the appropriate sorting operation allocation to the sorting robot is also an important influencing factor of the sorting and scheduling system. Appropriate task or operation allocation can improve the efficiency of the entire production workshop assembly line, thereby improving the production capacity of the entire assembly line.

[0075] In a specific embodiment, a sorting control method for a sorting system is provided, which is described by taking a sorting robot as an example. The method may include the following steps:

[0076] 1) Create a logistics simulation model in the control and scheduling server based on the existing layout and relevant data such as equipment operating parameters.

[0077] 2) Obtain data from the information system to obtain information such as production orders, product models and types, and the number of steel plates. Calculate the average distribution ratio of the sorting robot at a single workstation based on the different process types and sizes of parts.

[0078] 3) Schedule and allocate sorting operations for the sorting robots, and obtain the solution set of simulation scheduling based on the calculated solution set.

[0079] 4) Determine whether a (i.e., the absolute value of the difference between the candidate allocation results) is greater than 10% (greater than 10% indicates that it is not within the preset difference range). If so, perform secondary scheduling directly and further calculate to obtain the optimal solution or suboptimal solution; if not, execute the next step in sequence.

[0080] 5) The sorting system communicates with the logistics equipment by uploading information related to the work instructions, reports the working hours to drive the AGV scheduling system, and transports the assembled parts frame to the destination.

[0081] 6) The output results include the equipment utilization rate of the sorting robot, assembly line capacity, AGV flow, etc.

[0082] Specifically, regarding the above step 2), obtain the data in the information system, obtain the production order, product model type, steel plate quantity and other information, and obtain the percentage W1, ..., W of the sorting operation time when the process type k=1, 2, 3, ..., n of all steel plates n , that is, the percentage of sorting operation time of parts of this process among all process types. The specific calculation process can be as follows:

[0083]

[0084]

[0085]

[0086]

[0087]

[0088] Among them, GF i : represents the number of steel plates of the i-th type of steel plate, the value range of i includes 1…h, unit: piece; GT k : Indicates the number of parts of the kth process type, the value range of k includes 1…n, unit: piece; WS k 、WM k , WL k : Respectively represent the percentage of parts of different sizes in type k, unit: %; TS, TM, TL: Respectively represent the sorting time of parts of different sizes, unit: s; T v : Indicates the robot vision photo taking time, unit: s; T ik : represents the total sorting time required for the i-th type of steel plate and the k-th type of process, unit: s; W1: represents the percentage of sorting time required for parts of the first process type when k=1, unit: %; W k : represents the percentage of sorting time required for parts of the kth process type, unit: %; W n : represents W with k values ​​ranging from 1 to n k The sum of T k : Indicates the photography time required for parts of the kth process type, unit: s.

[0089] According to the data obtained from the information system, the sorting operation time T of all parts of all types of steel plates is obtained. ik , thus obtaining the sorting content percentages W1, ..., W of all steel plate types when process type k = 1, 2, 3, ..., n according to the classification of k process types. n , that is, the percentage of sorting operation time of parts of this process in all process types. The calculation method based on the size classification of parts of k processes can classify parts more accurately, which is more in line with the characteristics when applied to the workshop sorting line and more conducive to the scheduling of sorting robots.

[0090] Regarding the above step 3), the percentage of sorting operation time of parts of k process types obtained in the previous steps, namely W1, ..., W n, perform job allocation and scheduling for the sorting robots, let A be the solution set of W1, W2, W3, ... Wk. If there are k process types and r sorting robots, then k-r+1 A sets are obtained: A1 is the set of any 1 W value, A2 is the set of any 2 W values ​​added together, ..., A k-r+1 is the sum of any k-r+1 W values, and the candidate allocation result P r for: , and then we can get the solution set of V. The sum of all P values ​​in the solution set of V is 1, that is, all P values ​​in the solution set of V are the non-repeated W values ​​in the candidate set obtained by summarizing all A sets. .

[0091] The following is an example: Taking k as 5 and r as 3, we get W1, W2, W3, W4, and W5, then we can get a total of 3 A solution sets A1, A2, and A3, which are: A1={W1, W2, W3, W4, W5}, A2={W1+W2, W1+W3, W1+W4,,,, W4+W5}, A3={W1+W2+W3, W1+W2+W4,,,,, W3+W4+W5}, then we get one of the random V solution sets: V={W1, W2+W4, W3+W5}.

[0092] Suppose the absolute value of the subtraction of any numbers in the V solution set is a. If a<3%, output the V solution set; if 3%≤a≤10%, iterate and loop to find the optimal V solution set; if a>10%, it means that there are sorting robots with uneven job distribution, and then the sorting job content is secondary scheduled.

[0093] According to the previous text, we know that according to the classification of k process types, the sorting operation time percentage W1, W2, W3, W4, W5 when k=1, 2, 3, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, n , thus obtaining multiple random number sets A in units of W, and obtaining the solution set P of the operation content of the r-th sorting robot r , the solution set of the entire sorting robot operation content is V. The third point is mainly about the scheduling and allocation of the sorting robot sorting operation content. The sorting robot operation content will be scheduled in the most optimized form to stabilize the balance of the sorting robot and the balance of each station on the assembly line.

[0094] Regarding the above step 4), the secondary scheduling of the sorting scheduling simulation system is to sort the robots with uneven job distribution mentioned above, and then perform secondary scheduling of the sorting job content. If the absolute value of the difference between any numbers in the V solution set is a, a>10%, the largest number in the difference is assigned to X1, X1 is A1 to A k-r+1 A random number consisting of the minimum value in each set: , and then we can get The solution set, The sum of all X and P values ​​in the solution set is 1, that is, All X and P values ​​in the solution set are unique W values ​​in set A: .

[0095] like The absolute value of any number in the solution set subtracted is a. If a<3%, then output Solution set; if 3%≤a≤10%, then iterate and loop to find the optimal Solution set; if a>10%, reiterate X1 and output the optimal solution again .

[0096] It can be seen that P r : represents the percentage of sorting operation time of the rth sorting robot; V: represents the solution set with the percentage of sorting operation time of r sorting robots; : represents the solution set of the percentage of sorting operation time occupied by r sorting robots; A k-r+1 : represents the k-r+1th solution set of the percentage of sorting operation time when there are k types of processes and the number of sorting robots is r;

[0097] This step corresponds to the situation when a>10%. This step belongs to the secondary scheduling of the sorting operation. The secondary scheduling is used to optimize the uneven distribution of the sorting robots to maintain the balance of the assembly line.

[0098] Regarding the above step 5), the sorting system communicates with the AGV equipment by uploading relevant information of the operation instruction, that is, taking the coordinates of the line point as the center, searching for the nearby AGV with the status of "idle" and the closest distance to the coordinate center to transfer the material frame or pallet, and at the same time calling another "idle" AGV closer to the empty pallet or empty material frame to replenish the empty material frame / empty pallet. The optimal scheduling method of AGV scheduling is used to avoid AGV running empty paths as much as possible, thereby improving the transportation efficiency of AGV.

[0099] Regarding the above step 6), the data output of the sorting and scheduling simulation system includes: the equipment utilization rate of the sorting robots at each station, the number of sorted parts by different sorting robots, the number of parts of k process types offline, the number of steel plates of different i types (capacity), the balance rate of each station, and the hourly flow of AGV. Among them, the equipment utilization rate of the sorting robot reflects the balance of the allocation of each sorting robot. If a<3%, it means that the sorting and scheduling simulation system outputs the optimal solution; if 3%≤a≤10%, it means that the suboptimal solution output by the sorting and scheduling simulation system is changed.

[0100] The specific implementation can be as follows:

[0101] In order to verify the application of the technology of the present invention to the intelligent sorting simulation scheduling system for the later operation of the unloading line, an analysis and explanation will be given in combination with the accompanying drawings obtained from the embodiments of the present invention.

[0102] Example 1: Modeling the entire system, converting the existing CAD layout Figure 1 :1 Import into the simulation software, arrange the equipment layout according to the CAD layout diagram and set the corresponding parameters, connect with the FlexSim interface according to the production order of the SAP system, connect the sorting robot and conveyor belt in the sorting and scheduling system to the PLC to obtain the logic of the entire scheduling system, drive the AGV scheduling system to free scheduling, obtain the specifications, types and quantities of steel plates in the WMS warehouse management system, run the entire model after the model and logic are built, and output the corresponding simulation data. This model mainly includes 2 steel plate vertical warehouse storage, 2 cutting machines, 6 sorting robots, 2 stacking robots, 2 sanding machines, 2 roller conveyor lines, 2 belt conveyor lines, 4 AGVs, etc.

[0103] Example 2: The same steps as Example 1, the model is exactly the same as Example 1, but there are differences in the following aspects: First, the product order in Example 2 is inconsistent with Example 1 (as shown in Table 1 Example production plan); Second, due to the inconsistency of the two products in the example, the scheduling of the robots in the sorting and scheduling system is different, which is mainly reflected in the change of work allocation content. In this case, there are 8 types of parts, that is, k=8, and W1, W2, W3, W4, W5, W6, W7 and W8 are 15.2%, 16.9%, 13.9%, 15.2%, 11.9%, 13.3%, 6.8%, 6.8% respectively.

[0104] Table 1 Production schedule of the embodiment

[0105]

[0106] Since the main line consists of 6 sorting robots and the auxiliary line consists of 2 palletizing robots, the auxiliary line is sorted and dispatched with the last two sorting robots. This time, k=8, i=6 is assigned

[0107] According to the allocation strategy of the sorting operation content allocation scheduling system, the following solution set is obtained:

[0108] A1= {W1, W2, W3, W4, W5, W6, W7, W8}

[0109] A2= {W1+W2, W1+W3,,,,,,W7+W8}

[0110] A3= {W1+W2+W3, W1+W3+W4,,,,,,W6+W7+W8}

[0111] The solution set of the sorting robot sorting operation allocation ratio is obtained as follows:

[0112] Pr = Round{A1, A2, A3}

[0113] Finally, the solution set of the sorting operation allocation ratio of the 6 sorting robots is:

[0114] V = Round{P1, P2, P3, P4, P5, P6}

[0115] Output V = {15.2%, 18.7%, 16.9%, 22.7%, 15.2%, 13.9%}, at this time a = 8.8%, a<10%

[0116] The output is a suboptimal solution.

[0117] The utilization of the manipulators and AGVs in Example 1 and Example 2 are shown in Table 2 and Table 3, respectively. In Example 1, the utilization of the 8 manipulators is uneven, and the utilization of sorting robots 2 and 4 is no more than 32%, which is relatively low, and the output rate is also low and very unbalanced; in Example 2, the utilization of the 8 manipulators is relatively uniform, with an average utilization of 54.13% and an average output of 102.75, which is significantly higher than the utilization of the manipulators in Example 1; Table 3 shows the running flow of AGVs in various sorting functional areas. It is not difficult to see that the AGV flow in Example 2 is relatively uniform and stable, while the AGV flow in Example 1 is mainly concentrated in sorting area 1, which is quite different from the sorting flow in other areas, increasing the frequency of AGV congestion.

[0118] Table 2 Utilization of sorting robots

[0119]

[0120]

[0121]

[0122] Based on the above data analysis, we can know that, first, the simulation sorting scheduling system verifies the operation scheduling logic when changing the production schedule, and evens out the utilization rate of the sorting robots or manipulators on the production line, thereby improving production capacity and daily output value; second, uneven sorting scheduling greatly causes imbalance in workstations, causing the steel plate parts on the pallet to pile up on the conveyor line. For example, in implementation 1, there is a blockage in the upstream rhythm and a sluggish downstream, which causes the blockage of the unloading production line and becomes the bottleneck of the entire intelligent unloading production line, affecting output and causing losses; third, changes in the intelligent sorting simulation scheduling system affect the allocation of the AGV scheduling system. Evenly allocating operations through the simulation sorting scheduling system can effectively slow down the logistics operation volume in certain areas, avoid blockage in a certain section of the path, improve logistics distribution efficiency, speed up the operation rhythm, and thus increase production capacity.

[0123] In summary, this application proposes a sorting control method for a sorting system that schedules intelligent sorting robots in a material unloading workshop according to specific operations, balances the balance rate of each workstation, and the utilization rate of the manipulator. The method uses a calculation method that classifies the size of parts of k processes as a standard, and uses sorting operation allocation scheduling and optimization to comprehensively consider logistics AGV, workstation balance, production capacity, equipment utilization and other indicators. Compared with the prior art, the technical solution provided in the embodiment of this application has the following beneficial effects:

[0124] 1. The existing technology optimizes the load rate of the sorting robot and the number of sorting robots, workstations and other resources, and rationally plans and designs the assembly line, which is suitable for early planning and design; this solution is suitable for production optimization of the later assembly line, that is, sorting is carried out on the built assembly line, and the characteristics of the parts are used to allocate the work content in a targeted manner to improve the work efficiency of the overall assembly line. Specifically, the average distribution ratio of the sorting robot at a single workstation is calculated based on the different process types and different sizes of parts; the sorting robot is scheduled and allocated for sorting operations, and the solution set for simulation scheduling is obtained based on the calculated solution set. Through the above steps, the overall sorting operation content can be optimized, providing more accurate sorting scheduling for the actual production workshop assembly line, and further optimizing the logistics scheduling of the AGV scheduling system, making the scheduling of the entire production workshop more stable and balanced.

[0125] 2. The order output of the construction machinery industry is often updated on a monthly or quarterly basis. The switching of products causes changes in the scheduling of the entire sorting and scheduling system. Based on this method, the sorting and scheduling simulation system is connected with the management execution system to update the order to the model. By simulating the scheduling allocation strategy of the sorting operation scheduling system, on the one hand, it can allocate work content according to the specific process attributes of the parts to achieve the effect of balancing the workstations and balancing the load of the sorting robot, thereby improving the efficiency of the entire unloading production line and the production capacity; on the other hand, the simulation before the later operation can more quickly avoid production risks, thereby reducing the financial risks of the later operation.

[0126] An embodiment of the present application also provides a processor configured to execute the sorting control method for a sorting system according to the above-mentioned implementation.

[0127] An embodiment of the present application also provides a sorting control device for a sorting system, including: a sorting system including a plurality of sorting operation machines; and a processor according to the above-mentioned embodiment.

[0128] In one embodiment, the sorting control device for the sorting system may further include a plurality of movable handling devices in communication with the sorting system.

[0129] An embodiment of the present application further provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, a sorting control method for a sorting system according to the above-mentioned embodiment is implemented.

[0130] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0131] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0132] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0133] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0134] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0135] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0136] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0137] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0138] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A sorting control method for a sorting system, characterized in that: The sorting system includes a plurality of sorting operation machines, and the sorting control method includes: Acquire part information of a group of parts to be sorted, wherein the group of parts to be sorted includes subgroups of parts to be sorted of multiple process types, and a first number of the subgroups of parts to be sorted is greater than a second number of the sorting operation machines; Determine the subgroup sorting operation time required for each subgroup of the parts to be sorted and the total sorting operation time required for the parts to be sorted according to the parts information of the parts group to be sorted; Determine the proportion of the sorting operation time corresponding to each of the subgroups of parts to be sorted according to the subgroup sorting operation time and the total sorting operation time; Determining target sorting operation allocation results of the plurality of sorting operation machines in the sorting system with respect to the plurality of subgroups of parts to be sorted according to the plurality of sorting operation time proportions; Controlling the operation of the sorting system according to the target sorting job allocation result; Wherein, determining the target sorting operation allocation results of the multiple sorting operation machines in the sorting system with respect to the multiple subgroups of parts to be sorted according to the multiple sorting operation time proportions includes: obtaining N sets according to the multiple sorting operation time proportions, wherein N is the difference between the first number and the second number plus 1, the first set of the N sets is a set composed of the multiple sorting operation time proportions, the mth set of the N sets is a set composed of the sum of any m sorting operation time proportions, and the value range of m is 2 to N; for the N sets The method comprises the steps of: summarizing the candidate allocation results to obtain a candidate set including candidate allocation results, wherein the candidate allocation results include values ​​in the first set and the mth set; selecting a second number of candidate allocation results from the candidate set to obtain a first candidate sorting operation allocation result; determining a candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation results; and determining that the first candidate sorting operation allocation result is the target sorting operation allocation result when the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation results are both within a preset difference range.

2. The sorting control method according to claim 1, characterized in that: The part information of the to-be-sorted part group includes the third quantity of the to-be-sorted parts in each of the to-be-sorted part subgroups, the first quantity ratio of the to-be-sorted parts of each part size in each of the to-be-sorted part subgroups, and the preset sorting operation time corresponding to the to-be-sorted parts of each part size in each of the to-be-sorted part subgroups; Determining the subgroup sorting operation time required for each subgroup of the parts to be sorted and the total sorting operation time required for the parts to be sorted according to the parts information of the parts to be sorted group includes: Determining a fourth quantity of the parts to be sorted of each part size in each of the subgroups of parts to be sorted according to the third quantity and the proportion of the first quantity; Determining the subgroup sorting operation time required for each subgroup of the parts to be sorted according to the fourth quantity and the preset sorting operation time; The subgroup sorting operation time required for each of the subgroups of parts to be sorted is added together to obtain the total sorting operation time required for the group of parts to be sorted.

3. The sorting control method according to claim 2, characterized in that: The acquiring of part information of a group of parts to be sorted includes: acquiring part information of a plurality of groups of parts to be sorted, wherein the plurality of groups of parts to be sorted include groups of parts to be sorted corresponding to respective structural parts to be sorted of a plurality of structural part types; the part information of the group of parts to be sorted also includes a fifth quantity of the structural parts to be sorted of each structural part type and a preset image acquisition time corresponding to the structural parts to be sorted; The total sorting operation time required for the plurality of to-be-sorted part groups also includes the total image acquisition time required for all the to-be-sorted structural parts of the plurality of structural part types, and the total image acquisition time is determined according to the fifth number and the preset image acquisition time; The subgroup sorting operation time required for each of the plurality of parts groups to be sorted includes a subgroup image acquisition time required for each of the plurality of parts groups to be sorted. The determination of the subgroup image acquisition time includes: Determine a second quantity ratio of the parts to be sorted in each of the subgroups of parts to be sorted in the plurality of groups of parts to be sorted to the parts to be sorted in the plurality of groups of parts to be sorted; The product value of the total image acquisition time and each of the second number proportions is determined to obtain the image acquisition time of each of the subgroups.

4. The sorting control method according to claim 1, characterized in that: The sum of the candidate allocation results in the first candidate sorting job allocation results is 1, and the process types of the to-be-sorted part subgroups corresponding to the candidate allocation results are different.

5. The sorting control method according to claim 4, characterized in that: The preset difference range includes a first preset difference range and a second preset difference range, and the positive upper limit threshold of the first preset difference range is smaller than the positive lower limit threshold of the second preset difference range; The step of determining the first candidate sorting operation allocation result as the target sorting operation allocation result when the candidate allocation result differences between any two candidate allocation results in the first candidate sorting operation allocation results are both within a preset difference range comprises: When the candidate allocation result difference between any two candidate allocation results in the first candidate sorting operation allocation results are both within the first preset difference range, determining the first candidate sorting operation allocation result as the target sorting operation allocation result; When there are two candidate allocation results in the first candidate sorting operation allocation results whose candidate allocation result difference is within the second preset difference range, the first candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences between any two candidate allocation results is determined as the target sorting operation allocation result.

6. The sorting control method according to claim 4, characterized in that: Also includes: If there are two candidate allocation results in the first candidate sorting operation allocation results whose candidate allocation result difference is not within the preset difference range, determining a candidate allocation result to be scheduled, wherein the candidate allocation result to be scheduled is the maximum value among the first candidate sorting operation allocation results; Reassigning the candidate allocation result to be scheduled to any value in a minimum value set, wherein the minimum value set is a set consisting of minimum values ​​in the first set and the mth set; Reselecting the candidate allocation results of the second number minus 1 from the candidate set, and obtaining a second candidate sorting job allocation result based on the reassigned candidate allocation results to be scheduled, wherein the candidate allocation results in the second candidate sorting job allocation result include the reassigned candidate allocation results to be scheduled and the reselected candidate allocation results, the sum of the reassigned candidate allocation results to be scheduled and the reselected candidate allocation results is 1, and the process types of the subgroups of parts to be sorted that respectively correspond to each other are different; determining a candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results; When the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within a preset difference range, the second candidate sorting operation allocation result is determined as the target sorting operation allocation result.

7. The sorting control method according to claim 6, characterized in that: The preset difference range includes a first preset difference range and a second preset difference range, and the positive upper limit threshold of the first preset difference range is smaller than the positive lower limit threshold of the second preset difference range; The step of determining the second candidate sorting operation allocation result as the target sorting operation allocation result when the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within a preset difference range includes: When the candidate allocation result difference between any two candidate allocation results in the second candidate sorting operation allocation results are both within the first preset difference range, determining the second candidate sorting operation allocation result as the target sorting operation allocation result; When there are two candidate allocation results in the second candidate sorting operation allocation results whose candidate allocation result difference is within the second preset difference range, the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences of any two candidate allocation results is determined as the target sorting operation allocation result.

8. The sorting control method according to claim 6, characterized in that: Also includes: If there are two candidate allocation results in the second candidate sorting operation allocation results whose candidate allocation result difference is not within the preset difference range, the second candidate sorting operation allocation result with the smallest sum of the candidate allocation result differences of any two candidate allocation results is determined as the target sorting operation allocation result.

9. The sorting control method according to claim 1, characterized in that: The sorting system communicates with a plurality of movable transport devices, and after the sorting system is controlled to work according to the target sorting operation allocation result, the sorting system further comprises: Acquire status information of the plurality of movable transport devices and first distances between the plurality of movable transport devices and the sorting system respectively; Determine a first movable transport device according to the state information and the first distance, wherein the first movable transport device is a movable transport device among the multiple movable transport devices whose state information indicates an idle state and whose first distance is the shortest; The first movable transport device is controlled to transport the parts after the sorting system performs the sorting operation.

10. The sorting control method according to claim 9, characterized in that: Also includes: Acquire second distances between the plurality of movable handling devices and the storage area of ​​the parts carrying device respectively; Determine a second movable transport device according to the state information and the second distance, wherein the second movable transport device is a movable transport device of which the state information is an idle state and the second distance is the shortest among the multiple movable transport devices; The second movable transport device is controlled to transport the part carrier device in the part carrier device storage area to the unloading point of the sorting system, so that the parts at the unloading point are carried by the part carrier device.

11. A processor, characterized in that: The method is configured to execute the sorting control method for a sorting system according to any one of claims 1 to 10.

12. A sorting control device for a sorting system, characterized in that: include: A sorting system, including a plurality of sorting operation machines; A processor according to claim 11.

13. A machine-readable storage medium storing a program or an instruction, characterized in that: When the program or the instruction is executed by a processor, the sorting control method for a sorting system according to any one of claims 1 to 10 is implemented.

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