A dual-manipulator scheduling method for an aging room

Abstract

The present invention relates to the field of aging room monitoring technology, and more specifically, to a dual-manipulator scheduling method for an aging room. The scheme includes real-time collection of production line information, card reading for warehousing, and determination of the current warehousing mode; when the warehousing mode belongs to the first mode, setting the entry mode and the entry position; when the warehousing mode belongs to the second mode, setting the entry mode and the entry position; when the warehousing mode belongs to the third mode, setting the entry mode and the entry position; when the warehousing mode belongs to the fourth mode, setting the entry mode and the entry position; setting forward-looking predetermined positions to update entrance 1 and entrance 2 respectively, and updating the maximum time interval of entrance 2. The scheme dynamically adjusts the single and double operation rules of the manipulator by counting the flow of fixtures and products before aging of the production line, the aging time of the product, and the flow of the line after aging, combined with the running speed of the manipulator itself, to improve the operation efficiency and production capacity of the manipulator while ensuring the stability of production capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of aging room monitoring, and more specifically, to a dual-manipulator scheduling method for an aging room. Background Art

[0002] In the field of aging room monitoring, the study of dual-manipulator scheduling has important significance and value. By adopting advanced control algorithms and intelligent technologies, the coordinated scheduling and optimized operation of multiple manipulators in the aging room can be achieved. This scheduling method can improve production efficiency, reduce energy consumption, reduce equipment failure rate, etc., thereby bringing significant economic and social benefits to the enterprise. At the same time, with the continuous improvement of industrial automation, the study of dual-manipulator scheduling in aging rooms will also become one of the important directions in the field of intelligent manufacturing in the future.

[0003] Prior to the technology of the present invention, the existing dual-manipulator scheduling method for the aging room mainly adopted a fixed mode or a simple rule algorithm for scheduling. This method usually controls the operation sequence and action of the manipulator according to a fixed procedure based on the preset production process and beat. However, this scheduling method has some obvious technical difficulties and key points. First, due to changes in the production environment and conditions, the fixed scheduling program may not be able to adapt to all situations, resulting in inefficiency or operational errors. Secondly, simple rule algorithms are difficult to handle complex production scenarios and abnormal situations, and require manual intervention and adjustment. In addition, the lack of real-time monitoring and evaluation of the operating status and performance of the manipulator makes the scheduling decision not accurate and timely. Therefore, how to design a method that can adapt to different. Summary of the invention

[0004] In view of the above problems, the present invention proposes a dual-manipulator scheduling method for an aging room. By counting the flow of fixtures and products before production line aging, the aging time of products and the flow of lines after aging, combined with the operation speed of the robot itself, a forward-looking prediction algorithm is adopted to dynamically adjust the single and double operation rules of the robot, and control the entry and exit sequence and entry and exit methods of fixtures and products in the aging bin under the influence of different factors, dynamically adjust the execution of warehousing, outbound warehousing, and circulation within the warehouse, and improve the operation efficiency and production capacity of the robot as much as possible while ensuring the stability of production capacity.

[0005] According to a first aspect of an embodiment of the present invention, a dual-manipulator scheduling method for an aging room is provided.

[0006] In one or more embodiments, preferably, the dual-manipulator scheduling method for an aging room includes:

[0007] Collect production line information in real time, read cards for entry, and determine the current entry mode;

[0008] When the warehousing mode belongs to the first mode, setting the entry mode and the entry position;

[0009] When the warehousing mode belongs to the second mode, setting the entry mode and the entry position;

[0010] When the warehousing mode belongs to the third mode, setting the entry mode and the entry position;

[0011] When the warehousing mode belongs to the fourth mode, setting the entry method and the entry position;

[0012] Set the forward-looking scheduled positions to update entry 1 and entry 2 respectively, and update the maximum time interval of entry 2.

[0013] In one or more embodiments, preferably, the real-time collection of production line information, reading of card for entry, and determination of the current entry mode specifically include:

[0014] When it is determined that there is one request for card reading at the current time, it belongs to the single request mode;

[0015] When it is determined that there are two requests for card reading at the current time, it belongs to the dual request mode;

[0016] When in the single request mode, if it is determined that there is a card reading request from entrance 1, the storage mode belongs to the first mode;

[0017] When in the single request mode, if it is determined that there is a card reading request from entrance 2, the storage mode belongs to the second mode;

[0018] When in the dual request mode, if the column of the storage location of entrance 1 is single, the storage mode belongs to the third mode; if the column of the storage location of entrance 1 is double, the storage mode belongs to the fourth mode.

[0019] In one or more embodiments, preferably, when the warehousing mode belongs to the first mode, setting the entry mode and the entry position specifically includes:

[0020] Get the storage location that needs to be put into storage;

[0021] Determine whether the storage location to be put into storage is a single row or a double row;

[0022] When the storage location to be stored is a single row, the manipulator adopts the hook extension mode as the front hook, and uses the coordinates of the entrance 1 as the manipulator coordinates;

[0023] When the storage location to be stored is double-row, the fixture is transferred to the entrance 2 position by a robot.

[0024] In one or more embodiments, preferably, when the warehousing mode belongs to the second mode, setting the entry mode and the entry position specifically includes:

[0025] Calculate the time difference using the first calculation formula;

[0026] When it is determined that the time difference satisfies the second calculation formula, issuing a continue waiting command;

[0027] If the second calculation formula is not satisfied, the robot is set to the rear hook mode, and the fixture ID at the entrance 2 is asked for the storage location number and robot coordinates;

[0028] The first calculation formula is:

[0029] SJC = Tt;

[0030] Where SJC is the time difference, T is the time to enter entrance 2, and t is the current time;

[0031] The second calculation formula is:

[0032] SJC <jg;

[0033] Among them, jg is the maximum time interval.

[0034] In one or more embodiments, preferably, when the warehousing mode belongs to the third mode, setting the entry mode and the entry position specifically includes:

[0035] Read the fixture ID of entrance 2 and obtain the storage location to be entered;

[0036] Determine whether the storage locations of entrance 1 and entrance 2 are adjacent;

[0037] If they are adjacent storage locations, the robot adopts the double hook mode and obtains the coordinates of entrance 1 as the robot coordinates;

[0038] If the storage locations are not adjacent, the robot adopts the back groove mode, obtains the storage location number and coordinates that the fixture ID entering entrance 2 is going to enter, and sends them to the robot.

[0039] In one or more embodiments, preferably, when the warehousing mode belongs to the fourth mode, setting the entry mode and the entry position specifically includes:

[0040] Read the fixture ID of entrance 2 and obtain the storage location to be entered;

[0041] Set the robot to rear hook mode and follow the fixture and coordinates of entry 2.

[0042] In one or more embodiments, preferably, the setting of the forward-looking predetermined position updates entry 1 and entry 2 respectively, and updates the maximum time interval of entry 2, specifically including:

[0043] Get the fixture circulation time in each warehouse;

[0044] Obtain fixture information and current aging tasks in each bin;

[0045] Calculate the total circulation time by using a third calculation formula according to the aging task and the current temperature;

[0046] Using the fourth calculation formula to update the optimal coefficient group;

[0047] Calculate the optimal total flow duration using the fifth calculation formula according to the optimal coefficient group;

[0048] Calculate the circulation progress using the sixth calculation formula;

[0049] Calculating the maximum time interval using the seventh calculation formula;

[0050] The third calculation formula is:

[0051] ;

[0052] Among them, k10 and k20 are the coefficients of temperature influence and task influence respectively, DSC is the total flow time under the current temperature and task, n is the total number of historical tests of the current fixture, i is the number of the i-th test of the current fixture, ZTi is the total flow time under the current temperature in the i-th test, and ZRi is the total flow time under the current task in the i-th test;

[0053] The fourth calculation formula is:

[0054] ;

[0055] Among them, Argmin() is used to extract The function of the optimal coefficient group with the minimum time, {k1, k2} is the optimal coefficient group, SCi is the total actual execution time in the i-th test, and DSCik1k2 is the current temperature in the i-th test under a certain k10 and k20 and the total flow time under the task;

[0056] The fifth calculation formula is:

[0057] ;

[0058] Among them, zy is the optimal total flow duration;

[0059] The sixth calculation formula is:

[0060] jd=rwz÷zy;

[0061] Among them, jd is the flow progress, rwz is the execution time of the task;

[0062] The seventh calculation formula is:

[0063] jg=(1-jd)×zy;

[0064] Among them, jg is the maximum time interval.

[0065] According to a second aspect of an embodiment of the present invention, a dual-manipulator scheduling system for an aging room is provided.

[0066] In one or more embodiments, preferably, the dual-manipulator scheduling system for an aging room includes:

[0067] Real-time data collection module, used to collect production line information in real time, read cards for entry, and determine the current entry mode;

[0068] The first mode module is used to set the entry mode and the entry position when the storage mode belongs to the first mode;

[0069] The second mode module is used to set the entry mode and the entry position when the storage mode belongs to the second mode;

[0070] The third mode module is used to set the entry mode and the entry position when the storage mode belongs to the third mode;

[0071] The fourth mode module is used to set the entry mode and the entry position when the storage mode belongs to the fourth mode;

[0072] The mode control module is used to set the forward-looking scheduled positions to update entry 1 and entry 2 respectively, and update the maximum time interval of entry 2.

[0073] According to a third aspect of an embodiment of the present invention, there is provided a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method as described in any one of the first aspect of the embodiment of the present invention is implemented.

[0074] According to a fourth aspect of an embodiment of the present invention, there is provided an electronic device, comprising a memory and a processor, wherein the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement any one of the methods described in the first aspect of the embodiment of the present invention.

[0075] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0076] In the scheme of the present invention, by statistically analyzing the flow of fixtures and products before production line aging, the aging time of products and the flow of lines after aging, combined with the running speed of the manipulator itself, a forward-looking prediction algorithm is adopted to achieve accurate control of the entry time of the manipulator.

[0077] In the scheme of the present invention, by controlling the entry and exit order and method of fixtures and products in the aging warehouse under the influence of different factors, the execution of warehousing, warehousing, and circulation within the warehouse is dynamically adjusted to improve the operating efficiency and production capacity of the robot as much as possible while ensuring the stability of production capacity.

[0078] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0079] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0081] Figure 1 The present invention is a flowchart of a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention.

[0082] Figure 2 It is a flowchart of real-time collection of production line information, card reading for warehousing, and determination of the current warehousing mode in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention.

[0083] Figure 3 It is a flowchart of setting an entrance mode and an entrance position in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention when the warehousing mode belongs to the first mode.

[0084] Figure 4 It is a flowchart of setting an entrance mode and an entrance position in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention when the warehousing mode belongs to the second mode.

[0085] Figure 5 It is a flowchart of setting an entrance mode and an entrance position in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention when the warehousing mode belongs to the third mode.

[0086] Figure 6 It is a flowchart of setting an entrance mode and an entrance position in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention when the warehousing mode belongs to the fourth mode.

[0087] Figure 7 The present invention is a flowchart of setting forward-looking predetermined positions in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention to update entrance 1 and entrance 2 respectively, and updating the maximum time interval of entrance 2.

[0088] Figure 8 It is a structural diagram of a dual-manipulator dispatching system for an aging room according to an embodiment of the present invention.

[0089] Fig. 9 It is a structural diagram of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0090] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0091] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0092] In the field of aging room monitoring, the study of dual-manipulator scheduling has important significance and value. By adopting advanced control algorithms and intelligent technologies, the coordinated scheduling and optimized operation of multiple manipulators in the aging room can be achieved. This scheduling method can improve production efficiency, reduce energy consumption, reduce equipment failure rate, etc., thereby bringing significant economic and social benefits to the enterprise. At the same time, with the continuous improvement of industrial automation, the study of dual-manipulator scheduling in aging rooms will also become one of the important directions in the field of intelligent manufacturing in the future.

[0093] Prior to the technology of the present invention, the existing dual-manipulator scheduling method for the aging room mainly adopted a fixed mode or a simple rule algorithm for scheduling. This method usually controls the operation sequence and action of the manipulator according to a fixed procedure based on the preset production process and beat. However, this scheduling method has some obvious technical difficulties and key points. First, due to changes in the production environment and conditions, the fixed scheduling program may not be able to adapt to all situations, resulting in inefficiency or operational errors. Secondly, simple rule algorithms are difficult to handle complex production scenarios and abnormal situations, and require manual intervention and adjustment. In addition, the lack of real-time monitoring and evaluation of the operating status and performance of the manipulator makes the scheduling decision not accurate and timely. Therefore, how to design a method that can adapt to different.

[0094] In an embodiment of the present invention, a dual-manipulator scheduling method for an aging room is provided. The solution uses a forward-looking prediction algorithm to dynamically adjust the single and double operation rules of the manipulator by counting the flow of fixtures and products before production line aging, the aging time of products, and the flow of the line after aging, combined with the operation speed of the manipulator itself, and controls the order and method of entry and exit of fixtures and products in the aging bin under the influence of different factors, dynamically adjusts the execution of warehousing, warehousing, and circulation within the warehouse, and improves the operation efficiency and production capacity of the manipulator as much as possible while ensuring the stability of production capacity.

[0095] According to a first aspect of an embodiment of the present invention, a dual-manipulator scheduling method for an aging room is provided.

[0096] Figure 1 The present invention is a flowchart of a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention.

[0097] In one or more embodiments, preferably, the dual-manipulator scheduling method for an aging room includes:

[0098] S101, collect production line information in real time, read the card for entry, and determine the current entry mode;

[0099] S102: When the warehousing mode belongs to the first mode, setting the entry mode and the entry position;

[0100] S103, when the warehousing mode belongs to the second mode, setting the entry mode and the entry position;

[0101] S104, when the warehousing mode belongs to the third mode, setting the entry mode and the entry position;

[0102] S105, when the warehousing mode belongs to the fourth mode, setting the entry mode and the entry position;

[0103] S106. Set forward-looking scheduled positions to update entry 1 and entry 2 respectively, and update the maximum time interval of entry 2.

[0104] In an embodiment of the present invention, in order to solve the shortcomings of the existing dual-manipulator scheduling method for the aging room, the present invention proposes a dynamically adjusted dual-manipulator control strategy. First, by real-time collection of production line data, including product flow conditions, fixture status, and the operating speed and position information of the manipulator. Secondly, use forward-looking prediction algorithms to analyze these data to predict future production needs and potential bottlenecks. Then, dynamically adjust the operating rules of the manipulator according to the prediction results, such as the selection and execution order of single and double operation modes. Then, the adjusted rules are transmitted to the manipulator control system in real time to ensure that it performs tasks according to the optimal path. At the same time, the system continuously collects feedback information, such as the actual operating status and output effect of the manipulator, so as to adjust and optimize the scheduling in a timely manner.

[0105] Figure 2 It is a flowchart of real-time collection of production line information, card reading for warehousing, and determination of the current warehousing mode in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention.

[0106] like Figure 2 As shown, in one or more embodiments, preferably, the real-time collection of production line information, the card reading for entry, and the determination of the current entry mode specifically include:

[0107] S201, when it is determined that there is one request for card reading in the current warehouse, it belongs to the single request mode;

[0108] S202: When it is determined that there are two requests for card reading in the current warehouse, it belongs to the dual request mode;

[0109] S203, when in the single request mode, when it is determined that there is a card reading request from entrance 1, the storage mode belongs to the first mode;

[0110] S204, when in the single request mode, if it is determined that there is a card reading request from entrance 2, the storage mode belongs to the second mode;

[0111] S205. When in the dual request mode, if the column of the storage location of entrance 1 is single, the warehousing mode belongs to the third mode; if the column of the storage location of entrance 1 is double, the warehousing mode belongs to the fourth mode.

[0112] In an embodiment of the present invention, first, the production line information is collected in real time, which includes the product flow situation, the fixture status, and the running speed and position information of the manipulator. Then, the card reading for entry is performed to determine the current entry mode. Specifically, when it is determined that there is one request for the current entry card reading, it belongs to the single request mode. For example, if only one product needs to be entered into the warehouse, it is in the single request mode. When it is determined that there are two requests for the current entry card reading, it belongs to the dual request mode. For example, if two products need to be entered into the warehouse at the same time, it is in the dual request mode. In the single request mode, it is necessary to further determine the existing entrances. If there is a card reading request for entrance 1, the entry mode belongs to the first mode. For example, if the product needs to enter the warehouse from entrance 1, it is in the first mode. Similarly, in the single request mode, if there is a card reading request for entrance 2, the entry mode belongs to the second mode. For example, if the product needs to enter the warehouse from entrance 2, it is in the second mode. In the dual request mode, it is necessary to further determine the column of the storage location of entrance 1. If the column of the storage location of entrance 1 is single, the entry mode belongs to the third mode. For example, if both products need to enter the warehouse from entrance 1, and their storage locations are both in single row, then it is in the third mode. Similarly, in the double request mode, if the row of the storage location of entrance 1 is double, then the storage mode belongs to the fourth mode. For example, if both products need to enter the warehouse from entrance 1, and their storage locations are both in double row, then it is in the fourth mode. In this way, the current storage mode can be accurately determined, so as to better control the operation of the manipulator.

[0113] Figure 3 It is a flowchart of setting an entrance mode and an entrance position in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention when the warehousing mode belongs to the first mode.

[0114] like Figure 3 As shown, in one or more embodiments, preferably, when the warehousing mode belongs to the first mode, setting the entry mode and the entry position specifically includes:

[0115] S301, obtaining the storage location that needs to be put into storage;

[0116] S302, determining whether the storage location to be put into storage is a single row or a double row;

[0117] S303, when the storage location to be stored is a single row, the manipulator adopts the hook extension mode as the front hook, and uses the coordinates of the entrance 1 as the manipulator coordinates;

[0118] S304: When the storage location to be stored is double-row, the fixture is transferred to the entrance 2 position by a robot.

[0119] In an embodiment of the present invention, when the storage mode belongs to the first mode, the entrance mode and the entrance position are set. The specific steps are as follows: obtain the storage location that needs to be stored; determine whether the storage location that needs to be stored is a single row or a double row; when the storage location that needs to be stored is a single row, the manipulator adopts the hook extension mode as the front hook, and uses the coordinates of the entrance 1 as the manipulator coordinates; when the storage location that needs to be stored is a double row, the fixture is transferred to the entrance 2 position by the manipulator. When the storage mode belongs to the first mode, first obtain the storage location that needs to be stored. Then, determine whether the storage location that needs to be stored is a single row or a double row. If the storage location that needs to be stored is a single row, the manipulator adopts the hook extension mode as the front hook, and uses the coordinates of the entrance 1 as the manipulator coordinates. If the storage location that needs to be stored is a double row, the fixture is transferred to the entrance 2 position by the manipulator.

[0120] Figure 4 It is a flowchart of setting an entrance mode and an entrance position in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention when the warehousing mode belongs to the second mode.

[0121] like Figure 4 As shown, in one or more embodiments, preferably, when the warehousing mode belongs to the second mode, setting the entry mode and the entry position specifically includes:

[0122] S401, calculating the time difference using a first calculation formula;

[0123] S402: When it is determined that the time difference satisfies the second calculation formula, a continue waiting command is issued;

[0124] S403, if the second calculation formula is not satisfied, the robot is set to the rear hook mode, and the fixture ID at the entrance 2 is requested for the storage location number and the robot coordinates;

[0125] The first calculation formula is:

[0126] SJC = Tt;

[0127] Where SJC is the time difference, T is the time to enter entrance 2, and t is the current time;

[0128] The second calculation formula is:

[0129] SJC <jg;

[0130] Among them, jg is the maximum time interval.

[0131] In an embodiment of the present invention, when the warehousing mode belongs to the second mode, the entrance mode and the entrance position are set. The specific steps are as follows: Calculate the time difference using the first calculation formula; When it is determined that the time difference satisfies the second calculation formula, issue a continue waiting command; If the second calculation formula is not satisfied, set the manipulator to the rear hook mode, and request the warehousing location number and the manipulator coordinates from the fixture ID at entrance 2. In the embodiment of the present invention, when the warehousing mode belongs to the second mode, first calculate the time difference using the first calculation formula. Then, determine whether the time difference satisfies the second calculation formula. If it is satisfied, issue a continue waiting command; If it is not satisfied, set the manipulator to the rear hook mode, and request the warehousing location number and the manipulator coordinates from the fixture ID at entrance 2. Among them, the first calculation formula is: SJC = T - t; where SJ is the time difference, T is the time to enter entrance 2, and t is the current time; The second calculation formula is: SJC < jg; where jg is the maximum time interval.

[0132] Figure 5 It is a flowchart of setting the entrance mode and the entrance position when the warehousing mode belongs to the third mode in a double manipulator scheduling method for an aging room in an embodiment of the present invention.

[0133] As Figure 5 shown, in one or more embodiments, preferably, when the warehousing mode belongs to the third mode, setting the entrance mode and the entrance position specifically includes:

[0134] S501. Read the fixture ID at entrance 2 to obtain the warehousing location to enter;

[0135] S502. Determine whether the warehousing locations at entrance 1 and entrance 2 are adjacent;

[0136] S503. If they are adjacent warehousing locations, the manipulator adopts the double hook mode and obtains the coordinates to enter entrance 1 as the manipulator coordinates;

[0137] S504. If they are non - adjacent warehousing locations, the manipulator adopts the rear groove mode, obtains the warehousing location number and coordinates to enter for the fixture ID entering entrance 2, and sends them to the manipulator.

[0138] In an embodiment of the present invention, when the warehousing mode belongs to the third mode, the entrance mode and entrance position are set. The specific steps are as follows: read the fixture ID of entrance 2 to obtain the storage location to be entered; determine whether the storage locations of entrance 1 and entrance 2 are adjacent; if they are adjacent storage locations, the manipulator adopts the double hook mode to obtain the coordinates of entering entrance 1 as the manipulator coordinates; if they are non-adjacent storage locations, the manipulator adopts the back groove mode to obtain the storage location number and coordinates of the fixture ID entering entrance 2 to enter, and send them to the manipulator. In an embodiment of the present invention, when the warehousing mode belongs to the third mode, first read the fixture ID of entrance 2 to obtain the storage location to be entered. Then, determine whether the storage locations of entrance 1 and entrance 2 are adjacent. If they are adjacent storage locations, the manipulator adopts the double hook mode and obtains the coordinates of entering entrance 1 as the manipulator coordinates. If they are non-adjacent storage locations, the manipulator adopts the back groove mode, obtains the storage location number and coordinates of the fixture ID entering entrance 2 to enter, and then sends this information to the manipulator.

[0139] Figure 6 It is a flowchart of setting an entrance mode and an entrance position in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention when the warehousing mode belongs to the fourth mode.

[0140] like Figure 6 As shown, in one or more embodiments, preferably, when the warehousing mode belongs to the fourth mode, setting the entry mode and the entry position specifically includes:

[0141] S601, read the fixture ID of entrance 2 and obtain the storage location to be entered;

[0142] S602, setting the manipulator to rear hook mode, and following the fixture and coordinates of entrance 2.

[0143] In an embodiment of the present invention, when the warehousing mode belongs to the fourth mode, the entry mode and the entry position are set. The specific steps are as follows: read the fixture ID of the entrance 2 to obtain the storage location to be entered; set the manipulator to the back groove mode, and follow the fixture and coordinates of the entrance 2. In an embodiment of the present invention, when the warehousing mode belongs to the fourth mode, first read the fixture ID of the entrance 2 to obtain the storage location to be entered. Then, set the manipulator to the back groove mode, and follow the fixture and coordinates of the entrance 2.

[0144] Figure 7 The present invention is a flowchart of setting forward-looking predetermined positions in a dual-manipulator scheduling method for an aging room according to an embodiment of the present invention to update entrance 1 and entrance 2 respectively, and updating the maximum time interval of entrance 2.

[0145] like Figure 7As shown, in one or more embodiments, preferably, the setting of the forward-looking predetermined position updates entry 1 and entry 2 respectively, and updates the maximum time interval of entry 2, specifically including:

[0146] S701. Obtain the flow time of the fixture in each bin;

[0147] S702, obtaining fixture information and current aging tasks in each bin;

[0148] S703, calculating the total circulation time by using a third calculation formula according to the aging task and the current temperature;

[0149] S704, updating the optimal coefficient group using the fourth calculation formula;

[0150] S705, calculating the optimal total flow duration using the fifth calculation formula according to the optimal coefficient group;

[0151] S706, calculating the circulation progress using the sixth calculation formula;

[0152] S707, calculating the maximum time interval using the seventh calculation formula;

[0153] The third calculation formula is:

[0154] ;

[0155] Among them, k10 and k20 are the coefficients of temperature influence and task influence respectively, DSC is the total flow time under the current temperature and task, n is the total number of historical tests of the current fixture, i is the number of the i-th test of the current fixture, ZTi is the total flow time under the current temperature in the i-th test, and ZRi is the total flow time under the current task in the i-th test;

[0156] The fourth calculation formula is:

[0157] ;

[0158] Among them, Argmin() is used to extract The function of the optimal coefficient group with the minimum time, {k1, k2} is the optimal coefficient group, SCi is the total actual execution time in the i-th test, and DSCik1k2 is the current temperature in the i-th test under a certain k10 and k20 and the total flow time under the task;

[0159] The fifth calculation formula is:

[0160] ;

[0161] Among them, zy is the optimal total flow duration;

[0162] The sixth calculation formula is:

[0163] jd=rwz÷zy;

[0164] Among them, jd is the flow progress, rwz is the execution time of the task;

[0165] The seventh calculation formula is:

[0166] jg=(1-jd)×zy;

[0167] Among them, jg is the maximum time interval.

[0168] In an embodiment of the present invention, when the warehousing mode belongs to the fourth mode, the entry mode and the entry position are set. The specific steps are as follows: read the fixture ID of entrance 2 to obtain the storage location to be entered; set the manipulator to the back groove mode, and follow the fixture and coordinates of entrance 2. In an embodiment of the present invention, when the warehousing mode belongs to the fourth mode, first read the fixture ID of entrance 2 to obtain the storage location to be entered. Then, set the manipulator to the back groove mode, and follow the fixture and coordinates of entrance 2. In addition, it is necessary to set a forward-looking scheduled storage location to update entrance 1 and entrance 2 respectively, and update the maximum time interval of entrance 2. The specific steps are as follows: obtain the flow time of the fixture in each storage location; obtain the fixture information and the current aging task in each storage location; calculate the total flow time using the third calculation formula according to the aging task and the current temperature; use the fourth calculation formula to update the optimal coefficient group; use the fifth calculation formula to calculate the optimal total flow time according to the optimal coefficient group; use the sixth calculation formula to calculate the flow progress; use the seventh calculation formula to calculate the maximum time interval. Among them, the third calculation formula is: ; Wherein, n is the total number of tests, k10 and k20 are the coefficients of temperature influence and task influence respectively, DSC is the total flow time under the current temperature and task, n is the total number of historical tests of the current fixture, i is the number of the i-th test of the current fixture, ZTi is the total flow time under the current temperature in the i-th test, and ZRi is the total flow time under the current task in the i-th test; the fourth calculation formula is: ; Argmin() is used to extract The function of the optimal coefficient group at the minimum time, {k1, k2} is the optimal coefficient group, SCi is the total actual execution time in the i-th test, DSCik1k2 is the current temperature in the i-th test under a certain k10 and k20 and the total flow time under the task; the fifth calculation formula is: ; Wherein, zy is the optimal total flow duration; the sixth calculation formula is: jd=rwz÷zy; where jd is the flow progress, rwz is the execution duration of the task; the seventh calculation formula is: jg=(1-jd)×zy; where jg is the maximum time interval.

[0169] According to a second aspect of an embodiment of the present invention, a dual-manipulator scheduling system for an aging room is provided.

[0170] Figure 8 It is a structural diagram of a dual-manipulator dispatching system for an aging room according to an embodiment of the present invention.

[0171] In one or more embodiments, preferably, the dual-manipulator scheduling system for an aging room includes:

[0172] The real-time data collection module 801 is used to collect production line information in real time, read the card for entry, and determine the current entry mode;

[0173] The first mode module 802 is used to set the entry mode and the entry position when the storage mode belongs to the first mode;

[0174] The second mode module 803 is used to set the entry mode and the entry position when the storage mode belongs to the second mode;

[0175] The third mode module 804 is used to set the entry mode and the entry position when the storage mode belongs to the third mode;

[0176] The fourth mode module 805 is used to set the entry mode and the entry position when the storage mode belongs to the fourth mode;

[0177] The mode control module 806 is used to set the forward-looking predetermined positions to update the entry 1 and the entry 2 respectively, and to update the maximum time interval of the entry 2.

[0178] In the embodiment of the present invention, a system suitable for different structures is realized through a series of modular designs. The system can achieve closed-loop, reliable and efficient execution through collection, analysis and control.

[0179] According to a third aspect of an embodiment of the present invention, there is provided a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method as described in any one of the first aspect of the embodiment of the present invention is implemented.

[0180] According to a fourth aspect of an embodiment of the present invention, an electronic device is provided. Fig. 9 It is a structural diagram of an electronic device in one embodiment of the present invention. Fig. 9 The electronic equipment shown is a dual-manipulator dispatching device for a universal aging room. Fig. 9 The electronic device 900 includes one or more (only one is shown in the figure) processors 902, a memory 904 and a wireless module 906 coupled to each other. The memory 904 stores a program that can execute the content of the above-mentioned embodiment, and the processor 902 can execute the program stored in the memory 904.

[0181] Among them, the processor 902 may include one or more processing cores. The processor 902 uses various interfaces and lines to connect various parts of the entire electronic device 900, and executes various functions and processes data of the electronic device 900 by running or executing instructions, programs, code sets or instruction sets stored in the memory 904, and calling data stored in the memory 904. Optionally, the processor 902 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 902 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and target application program, etc.; the GPU is responsible for rendering and drawing the display content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 902, and it can be implemented separately through a communication chip.

[0182] The memory 904 may include a random access memory (RAM) or a read-only memory (ROM). The memory 904 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 904 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data (such as the aforementioned text document) created by the electronic device 900 during use, etc.

[0183] The wireless module 906 is used to receive and send electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, and thus communicate with a communication network or other equipment, for example, communicate with a base station based on a mobile communication protocol. The wireless module 906 may include various existing circuit elements for performing these functions, for example, an antenna, a radio frequency transceiver, a digital signal processor, an encryption / decryption chip, a user identity module (SIM) card, a memory, etc. The wireless module 906 may communicate with various networks such as the Internet, an intranet, a wireless network, or communicate with other electronic devices through a wireless network. The above-mentioned wireless network may include a cellular telephone network, a wireless local area network, or a metropolitan area network. The above-mentioned wireless network may use various communication standards, protocols, and technologies, including but not limited to WLAN protocols and Bluetooth protocols, and may even include those protocols that have not yet been developed.

[0184] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0185] In the scheme of the present invention, by statistically analyzing the flow of fixtures and products before production line aging, the aging time of products and the flow of lines after aging, combined with the running speed of the manipulator itself, a forward-looking prediction algorithm is adopted to achieve accurate control of the entry time of the manipulator.

[0186] In the scheme of the present invention, by controlling the entry and exit order and method of fixtures and products in the aging warehouse under the influence of different factors, the execution of warehousing, warehousing, and circulation within the warehouse is dynamically adjusted to improve the operating efficiency and production capacity of the robot as much as possible while ensuring the stability of production capacity.

[0187] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention 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 and optical storage, etc.) containing computer-usable program codes.

[0188] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of 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 produce 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 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0189] 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.

[0190] 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.

[0191] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A dual-manipulator scheduling method for an aging room, characterized in that: The method includes: Collect production line information in real time, read cards for entry, and determine the current entry mode; When the warehousing mode belongs to the first mode, setting the entry mode and the entry position; When the warehousing mode belongs to the second mode, setting the entry mode and the entry position; When the warehousing mode belongs to the third mode, setting the entry mode and the entry position; When the warehousing mode belongs to the fourth mode, setting the entry method and the entry position; Set the forward-looking scheduled positions to update entry 1 and entry 2 respectively, and update the maximum time interval of entry 2; Wherein, when the warehousing mode belongs to the first mode, setting the entry mode and the entry position specifically includes: Get the storage location that needs to be put into storage; Determine whether the storage location to be put into storage is a single row or a double row; When the storage location that needs to be stored is a single row, the manipulator adopts the hook extension mode as the front hook, and uses the coordinates of the entrance 1 as the manipulator coordinates; When the storage location to be stored is double-row, the fixture is transferred to the entrance 2 position by the manipulator; Wherein, when the warehousing mode belongs to the second mode, setting the entry mode and the entry position specifically includes: Calculate the time difference using the first calculation formula; When it is determined that the time difference satisfies the second calculation formula, issuing a continue waiting command; If the second calculation formula is not satisfied, the robot is set to the rear hook mode, and the fixture ID at the entrance 2 is asked for the storage location number and robot coordinates; The first calculation formula is: SJC=Tt; Where SJC is the time difference, T is the time to enter entrance 2, and t is the current time; The second calculation formula is: SJC <jg; Among them, jg is the maximum time interval; Wherein, when the warehousing mode belongs to the third mode, setting the entry mode and the entry position specifically includes: Read the fixture ID of entrance 2 and obtain the storage location to be entered; Determine whether the storage locations of entrance 1 and entrance 2 are adjacent; If they are adjacent storage locations, the robot adopts the double hook mode and obtains the coordinates of entrance 1 as the robot coordinates; If the storage location is not adjacent, the robot adopts the rear hook mode, obtains the storage location number and coordinates of the fixture ID entering entrance 2, and sends them to the robot; Among them, when the warehousing mode belongs to the fourth mode, setting the entry mode and the entry position specifically includes: Read the fixture ID of entrance 2 and obtain the storage location to be entered; Set the robot to rear hook mode and follow the fixture and coordinates of entrance 2; The forward-looking scheduled positions are set to update entry 1 and entry 2 respectively, and the maximum time interval of entry 2 is updated, specifically including: Get the fixture circulation time in each warehouse; Obtain fixture information and current aging tasks in each bin; Calculate the total circulation time by using a third calculation formula according to the aging task and the current temperature; Using the fourth calculation formula to update the optimal coefficient group; Calculate the optimal total flow duration using the fifth calculation formula according to the optimal coefficient group; Calculate the circulation progress using the sixth calculation formula; Calculating the maximum time interval using the seventh calculation formula; The third calculation formula is: ； Among them, k10 and k20 are the coefficients of temperature influence and task influence respectively, DSC is the total flow time under the current temperature and task, n is the total number of historical tests of the current fixture, i is the number of the i-th test of the current fixture, ZTi is the total flow time under the current temperature in the i-th test, and ZRi is the total flow time under the current task in the i-th test; The fourth calculation formula is: ； Among them, Argmin() is used to extract The function of the optimal coefficient group with the minimum time, {k1, k2} is the optimal coefficient group, SCi is the total actual execution time in the i-th test, and DSCik1k2 is the current temperature in the i-th test under a certain k10 and k20 and the total flow time under the task; The fifth calculation formula is: ； Among them, zy is the optimal total flow duration; The sixth calculation formula is: jd=rwz÷zy; Among them, jd is the flow progress, rwz is the execution time of the task; The seventh calculation formula is: jg=(1-jd)×zy; Among them, jg is the maximum time interval.

2. A dual-manipulator scheduling method for an aging room as described in claim 1, characterized in that: The real-time collection of production line information, card reading for entry, and determination of the current entry mode specifically include: When it is determined that there is one request for card reading at the current time, it belongs to the single request mode; When it is determined that there are two requests for card reading at the current time, it belongs to the dual request mode; When in the single request mode, if it is determined that there is a card reading request from entrance 1, the storage mode belongs to the first mode; When in the single request mode, if it is determined that there is a card reading request from entrance 2, the storage mode belongs to the second mode; When in the dual request mode, if the column of the storage location of entrance 1 is single, the storage mode belongs to the third mode; if the column of the storage location of entrance 1 is double, the storage mode belongs to the fourth mode.

3. A dual-manipulator dispatching system for an aging room, characterized in that: The system is used to implement the method according to any one of claims 1 to 2, and the system comprises: Real-time data collection module, used to collect production line information in real time, read cards for entry, and determine the current entry mode; The first mode module is used to set the entry mode and the entry position when the storage mode belongs to the first mode; The second mode module is used to set the entry mode and the entry position when the storage mode belongs to the second mode; The third mode module is used to set the entry mode and the entry position when the storage mode belongs to the third mode; The fourth mode module is used to set the entry mode and the entry position when the storage mode belongs to the fourth mode; The mode control module is used to set the forward-looking scheduled positions to update entry 1 and entry 2 respectively, and update the maximum time interval of entry 2.

4. A computer-readable storage medium storing computer program instructions, characterized in that: The computer program instructions implement the method according to any one of claims 1 to 2 when executed by a processor.

5. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1-2.

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