Cooperative scheduling method and system for chained tool magazine

Abstract

The invention relates to the technical field of machine tool magazine scheduling, in particular to a collaborative scheduling method and system for a chain type tool magazine, and the method comprises the steps: determining a plurality of tool scheduling demands through a multi-machine tool tool request queue obtained in real time, generating a tool calling queue according to the collected physical positions of tools and historical tool working data, establishing a conflict decision network, determining scheduling conflict items according to the plurality of tool scheduling requirements, and performing conflict resolution on the scheduling conflict items based on the conflict decision network; and performing cooperative control on the chain tool magazine according to the tool calling queue and the conflict resolution strategy. According to the method and the device, the problems of complex time sequence and frequent conflicts of cutter requests which are often difficult to process in time during multi-machine-tool cooperative scheduling are effectively solved, the cutter switching time and the delay caused by the conflicts are effectively reduced through reasonable cutter scheduling and conflict resolution, and the overall machining efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool tool magazine scheduling, and particularly to a collaborative scheduling method and system for a chain-type tool magazine. Background Art

[0002] With the improvement of the automation level of the manufacturing industry, as a key component in the machine tool automation system, the chain-type tool magazine is widely used in equipment such as numerically controlled machine tools and machining centers. Through mechanical transmission, the chain-type tool magazine can quickly and accurately transfer the tool from the storage position to the machining position, significantly improving the efficiency of tool change. At the same time, the efficient scheduling of the chain-type tool magazine plays a crucial role in improving the machining efficiency and reducing the non-machining time. Especially in the context of multi-machine collaborative scheduling, how to optimize the tool scheduling to ensure the reasonable allocation and efficient use of tools has become one of the key technologies for improving the overall efficiency of the production line.

[0003] The existing chain-type tool magazine scheduling methods mostly adopt fixed scheduling strategies or experience-based scheduling methods, usually performing tool scheduling through simple time slice rotation or priority polling. However, when facing multi-machine collaborative scheduling, these methods often have difficulty in timely handling the problems of complex tool request timings and frequent conflicts, resulting in low scheduling efficiency and frequent tool conflicts, which in turn affect the overall efficiency of the production line and further affect the machining efficiency and production stability.

[0004] The information disclosed in this background art section is only intended to deepen the understanding of the overall background art of the present disclosure, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0005] The present invention provides a collaborative scheduling method and system for a chain-type tool magazine, which can effectively solve the problems in the background art.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: A collaborative scheduling method for a chain-type tool magazine, the method comprising: Real-time obtaining the tool request queues of multiple machine tools, and determining a number of tool scheduling requirements according to the tool request queues; Collecting the physical positions of the tools and the historical tool working data, and generating a tool call queue based on the physical positions of the tools and the historical tool working data, the tool call queue representing the initial call order of a number of tools; Establishing a conflict decision network, determining scheduling conflict items according to a number of the tool scheduling requirements, and performing conflict resolution on the scheduling conflict items based on the conflict decision network; Performing collaborative control on the chain-type tool magazine according to the tool call queue and the conflict resolution strategy.

[0007] Further, conflict resolution for the scheduling conflict items based on the conflict decision network includes: Obtain the conflicting processes of the corresponding tool magazines respectively according to the scheduling conflict items, compare the urgency levels of the conflicting processes in their respective processes, and divide the urgent processes and standby processes according to the urgency levels; Set the highest priority scheduling level for the urgent processes, interrupt the occupancy status of the conflicting tool by the current non-urgent process, and schedule it to the standby position, calculate the shortest movement path of the conflicting tool to the urgent process, and perform priority scheduling on the conflicting tool according to the shortest movement path; Traverse the chain tool magazine, determine whether there is a replacement tool for the conflicting tool, when there is a replacement tool, calculate the shortest path of the replacement tool to the standby process, and schedule the standby process according to the shortest path; When there is no replacement tool for the conflicting tool, obtain the standby time limit of the standby process according to the historical tool magazine call information, set a countdown detection window, circularly detect the release information of the conflicting tool based on the standby time limit, and control the standby process according to the release information of the conflicting tool.

[0008] Further, comparing the urgency levels of the conflicting processes in their respective processes includes: Collect production economic data and obtain the loss per unit time, calculate the process delay costs of the conflicting processes respectively according to the loss per unit time, and screen the first urgent process according to the process delay costs; Obtain the process logic nodes corresponding to the conflicting processes respectively according to the tool request queue, evaluate the influence degree of the process logic nodes on the subsequent processes, and screen the second urgent process according to the influence degree; Judge whether the first urgent process and the second urgent process are consistent. If they are consistent, determine the urgent process. If they are not consistent, judge whether the subsequent process nodes of the process logic node are greater than a preset threshold. If they are greater, select the first urgent process.

[0009] Further, calculating the shortest movement path of the conflicting tool to the urgent process includes: Obtain several basic movement paths according to the historical tool scheduling information, and calculate and obtain the theoretical movement duration of each basic movement path according to the tool magazine movement speed; For each basic movement path, detect the tool obstacles on the basic movement path in real time, divide the conflict levels according to the tool obstacles and assign penalty factors; For each of the described basic movement paths, the theoretical movement duration is weighted and corrected according to the penalty factor to obtain a corrected movement duration. By comparing several of the corrected movement durations, the shortest movement path is obtained according to the comparison result.

[0010] Further, allocating the penalty factor according to the tool obstacle includes: Collect historical tool obstacle information, identify the obstacle types on the basic movement path according to the historical tool obstacle information, and allocate initial risk factors according to the obstacle types; Obtain the tool topology result, obtain the tool obstacle position information according to the tool topology result, and obtain the path position sensitivity of the position where the obstacle is located according to the tool obstacle position information. The path position sensitivity is positively correlated with the influence degree of the position where the obstacle is located on the overall scheduling efficiency of the tool magazine; Correct the initial risk factor according to the path position sensitivity to obtain the penalty factor.

[0011] Further, generating a tool call queue based on the tool physical position and historical tool working data includes: Determine the processing machine tool and several target tools, calculate the tool displacement distances between the processing machine tool and the target tools respectively, and calculate and obtain the tool movement cost according to the tool displacement distances; Extract the tool usage frequency and tool wear amount of each target tool according to the historical tool working data, and calculate the tool efficiency according to the tool usage frequency and tool wear amount; Calculate the scheduling priorities of the target tools according to the tool efficiency and tool movement cost respectively, and sort the target tools according to the scheduling priorities to obtain a tool call queue.

[0012] Further, sorting the target tools according to the scheduling priorities to obtain a tool call queue includes: Construct a multi-dimensional unordered array according to the target tools, where each target tool corresponds to a scheduling priority, and the multi-dimensional unordered array is a binary tree structure; Based on the target tools in the last non-terminal dimension, perform a reverse traversal, and compare the scheduling priority of each target tool with the target tools associated with the terminal dimension in turn; If the scheduling priority of the target tool in the terminal dimension is higher than that of the target tool in the non-terminal dimension, perform a sequence adjustment until the multi-dimensional unordered array becomes a multi-dimensional ordered array to obtain a tool call queue.

[0013] Further, performing collaborative control on the chain-type tool magazine according to the tool call queue and the conflict resolution strategy includes: Extract the tool call sequence and alternative tools according to the tool call queue and conflict resolution strategy respectively, and integrate the tool call sequence and alternative tools to generate a pre-replacement path for the main scheduling path; Determine whether there are scheduling conflict items. If so, trigger the scheduling operation of the alternative tool according to the replacement path. If not, continue the scheduling according to the main scheduling path.

[0014] A collaborative scheduling system for a chain-type tool magazine, the system includes: A tool request scheduling module, which obtains the tool request queues of multiple machine tools in real time and determines several tool scheduling requirements according to the tool request queues; A tool queue generation module, which collects the physical positions of tools and historical tool working data, and generates a tool call queue based on the physical positions of tools and historical tool working data. The tool call queue represents the initial call sequence of several tools; A conflict resolution decision module, which establishes a conflict decision network, determines scheduling conflict items according to several tool scheduling requirements, and resolves the scheduling conflict items based on the conflict decision network; A collaborative tool magazine control module, which performs collaborative control on the chain-type tool magazine according to the tool call queue and conflict resolution strategy.

[0015] Further, the tool queue generation module includes: A tool displacement calculation unit, which determines a processing machine tool and several target tools, calculates the tool displacement distances between the processing machine tool and the target tools respectively, and calculates and obtains the tool movement cost according to the tool displacement distances; A tool efficiency evaluation unit, which extracts the tool usage frequency and tool wear amount of each target tool according to the historical tool working data, and calculates the tool efficiency according to the tool usage frequency and tool wear amount; A tool priority sorting unit, which calculates the scheduling priorities of the target tools according to the tool efficiency and tool movement cost respectively, and sorts the target tools according to the scheduling priorities to obtain a tool call queue.

[0016] Through the technical solution of the present invention, the following technical effects can be achieved: Effectively solve the problem that it is often difficult to process tool requests in a timely manner when facing multi-machine tool collaborative scheduling, where the timing is complex and conflicts are frequent. Through reasonable tool scheduling and conflict resolution, the time for tool switching and the delay caused by conflicts are effectively reduced, the overall processing efficiency is improved, the scheduling priority of tools is optimized, the tool loss and unnecessary maintenance costs are reduced, and the economy of tool use is improved.

[0017] The above description is only an overview of the technical solution of the present application. In order to better understand the technical means of the present application, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically describes the specific implementation manners of the present application. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments described in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic flowchart of a cooperative scheduling method for a chain-type tool magazine; Figure 2 It is a schematic flowchart of conflict resolution; Figure 3 It is a schematic flowchart of urgency comparison; Figure 4 It is a schematic diagram of the relationship of conflict resolution; Figure 5 It is a schematic diagram of the relationship of urgency comparison. Detailed Description of the Invention

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0022] Embodiment 1; As Figure 1 shown, the present application provides a cooperative scheduling method for a chain-type tool magazine, and the method includes: S10: Real-time obtain the tool request queues of multiple machine tools, and determine several tool scheduling requirements according to the tool request queues; S20: Collect the physical positions of the tools and the historical tool working data, and generate a tool call queue based on the physical positions of the tools and the historical tool working data, and the tool call queue represents the initial call order of several tools; S30: Establish a conflict decision network, determine scheduling conflict items according to several tool scheduling requirements, and resolve the scheduling conflict items based on the conflict decision network; S40: Carry out collaborative control on the chain-type tool magazine according to the tool call queue and the conflict resolution strategy.

[0023] Specifically, first, the tool request information is transmitted in real time through a network interface (such as the interface between the PLC control system and the tool magazine) or sensors (photoelectric sensors, position sensors). Each machine tool will send requests according to its processing tasks and the required processing tools. The tool request information of each machine tool includes the tool number, the workpiece information to be processed, and the urgency, etc. The tool request queue is dynamically changing, indicating the current demands of each machine tool for different tools. Subsequently, the physical positions of each tool in the tool magazine and the historical tool working data can be obtained through the tool magazine management system. The tool physical position refers to the storage position of each tool in the tool magazine, and the historical tool working data includes the usage frequency, wear condition, and usage efficiency of each tool, etc. Through these data, a tool call queue can be generated, indicating the initial call order of the tools. Then, a conflict decision network is established to resolve the scheduling conflict items. The conflict decision network can be established according to the following steps: First, define the nodes in the network. These nodes represent various entities related to tool scheduling, such as tools, machine tools, processes, and scheduling requirements, etc. Each node represents a specific scheduling object. The tool node represents the tools in the tool magazine, the machine tool node represents the state of the machine tool, the scheduling requirement node represents the demand of the machine tool for the tool, and the process node represents each process in the production process. Then, determine the edges between the nodes, that is, represent the relationships and conflicts between the nodes. The conflict edge represents the conflict between scheduling requirements. For example, multiple machine tools request the same tool or there is a time conflict between processes. The priority conflict edge represents that some tasks need to be scheduled first due to high urgency. The resource competition edge represents that multiple tasks compete for the same resource (such as a tool), and the dependency edge represents that some tasks must wait for other tasks to complete before they can proceed. Then, conflict identification is to find out which scheduling requirements have conflicts by analyzing the edges between the nodes. Specifically, the system will identify the conflict requests, time conflicts, or resource competition problems of the tools according to the conflict edges between the nodes. Finally, the system applies conflict resolution rules and resolves these conflicts through strategies such as setting priorities, selecting alternative tools, and adjusting the order of tasks. The goal of conflict resolution is to minimize the delays and conflicts in the production process and optimize the tool scheduling path. After determining the tool request queue, the tool call queue, and the conflict resolution strategy, the system will carry out collaborative control on the chain-type tool magazine according to this information.

[0024] Through the technical solution of the present invention, the problem that it is often difficult to handle the complex and frequently conflicting tool requests in a timely manner when facing multi-machine collaborative scheduling is effectively solved. Through reasonable tool scheduling and conflict resolution, the tool change time and the delay caused by conflicts are effectively reduced, the overall processing efficiency is improved, the scheduling priority of the tool is optimized, the tool loss and unnecessary maintenance costs are reduced, and the economy of tool use is improved.

[0025] Furthermore, as Figure 2 , Figure 4 shown, conflict resolution for scheduling conflict items is performed based on a conflict decision network, including: S31: Obtain the conflicting processes of the corresponding tool magazine according to the scheduling conflict items respectively, compare the urgency of the conflicting processes in their respective processes, and divide the urgent processes and standby processes according to the urgency; S32: Set the highest priority scheduling level for the urgent processes, interrupt the occupancy status of the conflicting tool by the current non-urgent process, and schedule it to the standby position. Calculate the shortest movement path of the conflicting tool to the urgent process, and perform priority scheduling on the conflicting tool according to the shortest movement path; S33: Traverse the chain tool magazine to determine whether there is a replacement tool for the conflicting tool. When there is a replacement tool, calculate the shortest path of the replacement tool to the standby process, and schedule the standby process according to the shortest path; S34: If there is no replacement tool for the conflicting tool, obtain the standby time limit of the standby process according to the historical tool magazine call information, and set a countdown detection window. Based on the standby time limit, cycle to detect the release information of the conflicting tool, and control the standby process according to the release information of the conflicting tool.

[0026] As a preferred embodiment of the above, first, the conflict relationship between the tool request queue and the tool call queue is analyzed through the conflict decision network to determine which tool requests are in conflict. These conflicts are usually because multiple machine tools request the same tool, or due to the limitation of the tool's physical location or scheduling time, all scheduling requirements cannot be met. Then, through each conflicting process, the urgency of the conflicting process in each process is compared, and the conflicting processes are divided into emergency processes and standby processes. The emergency process is given the highest priority, and the tools of these emergency processes are scheduled first. If the tool required for the emergency process is being occupied by a non-emergency process, the system will interrupt the occupation of the tool by the non-emergency process and schedule it to the standby position. The non-emergency process can be rescheduled later. Once the tool of the non-emergency process is released, the shortest moving path of the tool to the emergency process is calculated, and the tool is scheduled first to complete the processing of the emergency process as soon as possible. For the standby process, the first step is to determine whether there is a replaceable tool. The judgment method is as follows: First, the characteristics of the tool are judged to ensure that the type, function, size, shape, etc. of the replacement tool match the conflicting tool. For example, the system will check whether the replacement tool has the same cutting performance, applicable materials, processing requirements, etc.; Next, the system will evaluate the degree of wear of the replacement tool and exclude tools that are severely worn or require maintenance; Then, the system will also consider the physical location of the replacement tool to ensure that it is not occupied by other machine tools and can be dispatched in place within a reasonable time. At the same time, the availability of the tool also needs to meet the scheduling requirements, including the matching of the tool scheduling priority and the task urgency; finally, calculate the shortest path from the replacement tool to the machine tool to evaluate whether the scheduling can be completed within the specified time. Only when the characteristics of the replacement tool meet all conditions, it is selected as the replacement tool; when the conflicting tool cannot be replaced and the standby process needs to wait, the minimum waiting time and maximum allowable waiting time of the standby process are analyzed based on the historical tool magazine call data, and while the standby process is waiting for the conflicting tool to be released, the release status of the conflicting tool is checked regularly by setting a countdown window, and the status of the conflicting tool is regularly detected according to the countdown window to determine whether there is release information. Once the tool is released, it is immediately scheduled and the corresponding control is executed.

[0027] Further, if Figure 3 、 Figure 5 As shown, compare the urgency of conflicting processes in their respective processes, including: S311: Collect production economic data and obtain unit time loss, calculate the process delay costs of the conflicting processes based on the unit time loss, and select the most urgent process based on the process delay costs; S312: Obtaining process logic nodes corresponding to conflicting processes according to the tool request queue, evaluating the impact of the process logic nodes on subsequent processes, and selecting the second urgent process based on the impact; S313: Determine whether the first emergency process is the same as the second emergency process. If they are the same, determine the emergency process. If they are not the same, determine whether the subsequent process node of the process logic node is greater than a preset threshold. If it is greater, select the first emergency process.

[0028] In this embodiment, during the conflict decision-making process, the first step is to collect production economic data, which includes the unit time loss during the production process. The unit time loss refers to the economic loss caused by uncompleted tasks or process delays during each unit of time in the production process. Calculate the process delay cost based on the unit time loss, that is, the loss brought by delaying the execution of this process per unit time. The calculation formula is as follows: ; Obtain the process delay cost of each conflicting process through calculation, and sort the processes based on the process delay cost. The process with the highest delay cost will be given priority and become the first emergency process. Subsequently, obtain the process logic nodes of the corresponding conflicting processes respectively according to the tool request queue, and evaluate the influence degree of the process logic nodes on the subsequent processes. The evaluation process can refer to the following method: First, construct a process logic diagram according to the working order of each process and its dependence on subsequent processes, which represents the sequence and influence between processes. Then, evaluate the lag time of each process delay on the subsequent processes, that is, the delay time of the start of the subsequent process caused by the process delay, and consider the importance and urgency of the process to calculate the influence degree of each process. Specifically, calculate the influence degree of each process by weighting the lag time and the importance factor of the process. The importance factor is an importance value representing the influence degree of a process on other processes in the production process and its priority in production, which represents a weight value and can be allocated based on historical experience in some embodiments. The process with a greater influence degree has a higher priority. The influence degree calculation formula is as follows: ; Finally, determine which processes have the greatest influence on subsequent processes according to the influence degree, and select the second emergency process. Determine whether the first and second emergency processes are the same. If they are the same, determine this process as the emergency process. If the first emergency process and the second emergency process are not the same, further determine the subsequent process node of the process, that is, evaluate the number of subsequent process nodes. If the number of subsequent process nodes is greater than the preset node threshold, select the first emergency process for scheduling.

[0029] Furthermore, calculate the shortest movement path from the conflicting tool to the emergency process, including: Obtain several basic movement paths according to the historical tool scheduling information, and calculate and obtain the theoretical movement duration of each basic movement path according to the tool magazine movement speed; For each basic movement path, detect the tool obstacles on the basic movement path in real time, divide the conflict levels according to the tool obstacles, and assign penalty factors; For each basic movement path, weighted correction is performed on the theoretical movement duration according to the penalty factor to obtain the corrected movement duration. Compare several corrected movement durations, and obtain the shortest movement path according to the comparison result.

[0030] Specifically, first, according to the historical tool scheduling information, obtain several possible basic movement paths and the lengths of the basic movement paths. Each basic movement path represents the path required from the current tool position to the target process (such as an emergency process). At the same time, obtain the tool magazine movement rate according to the tool magazine management system, and obtain the theoretical movement duration according to the tool magazine movement rate and the length of the basic movement path. For each basic movement path, each basic movement path may encounter obstacles, and these obstacles will affect the movement time and path selection of the tool. The obstacles on the path can be monitored in real time through sensors or image recognition technology in the tool magazine (such as other tools, machine tools, mobile machinery, etc.), and according to the type of the obstacle and its impact on the tool movement, assign a conflict level to each obstacle. Obstacles with a high conflict level will significantly affect the tool movement speed, while obstacles with a low conflict level have a smaller impact. The following classification method can be used as an example. For example: Conflict level 1: Slight obstacle, with little impact on movement; Conflict level 2: Medium obstacle, with the movement speed slowing down; and similar classifications. According to the conflict levels of the obstacles on the path, assign a penalty factor to each path. The penalty factor represents the degree of influence of the obstacle on the path. The higher the conflict level, the greater the penalty factor. Once the penalty factors of each basic path are determined, the system will perform weighted correction on the theoretical movement duration of each path according to the penalty factor. The corrected duration reflects the actual impact of the obstacle on the path. The weighted corrected movement duration is calculated by the following formula: ; Finally, after calculating the corrected movement durations of all basic paths, compare them, and select the path corresponding to the shortest corrected movement duration as the final scheduling path.

[0031] Furthermore, assigning penalty factors according to tool obstacles includes: Collect historical tool obstacle information, identify the types of obstacles on the basic movement path according to the historical tool obstacle information, and assign initial risk factors according to the types of obstacles; Obtain the tool topology result, obtain the tool obstacle position information according to the tool topology result, and obtain the path position sensitivity of the location where the obstacle is located according to the tool obstacle position information. The path position sensitivity is positively correlated with the degree of influence of the location where the obstacle is located on the overall scheduling efficiency of the tool magazine; Modify the initial risk factor according to the path position sensitivity to obtain the penalty factor.

[0032] As an optimization of the above embodiment, first, collect historical tool scheduling information, identify obstacles on the path, and assign an initial risk factor according to the type, size of the obstacles and their impact on the tool path. Specifically, the obstacles can be divided into static obstacles and dynamic obstacles. Since the position of static obstacles (such as fixed machine tools, walls, etc.) is fixed, their impact on tool movement is relatively small, so their initial risk factor is relatively low. While dynamic obstacles (such as moving tools, moving parts of the machine tool, etc.) have an impact that changes over time and may block the tool path, so a higher initial risk factor is assigned. Next, according to the topological structure of the tool, obtain the specific position of each obstacle on the tool path, and calculate the path position sensitivity. The path position sensitivity refers to the degree of influence of the position where the obstacle is located on path scheduling, especially on key nodes (such as starting points, turning points, etc.) on the path. The path position sensitivity can be calculated by the following formula: ; Among them, the distance to the obstacle represents the spatial distance between the path node and the obstacle. The closer the obstacle is to the key node of the path, the higher its sensitivity and the greater the degree of influence. On this basis, the system modifies the initial risk factor of each path according to the path position sensitivity to obtain the penalty factor. The modification process is achieved by multiplying the initial risk factor by the path position sensitivity. Finally, calculate the modified penalty factors of all paths, and weightedly modify the theoretical movement duration of each path according to these penalty factors. After the influence of the obstacles on the path is weighted and modified, the system will select the shortest modified path as the final scheduling path to ensure that the tool can complete the scheduling in the shortest time.

[0033] Furthermore, generate a tool call queue based on the physical position of the tool and historical tool working data, including: Determine the processing machine tool and several target tools, calculate the tool displacement distances of the processing machine tool and the target tools respectively, and calculate and obtain the tool movement cost according to the tool displacement distances; Extract the tool usage frequency and tool wear amount of each target tool according to the historical tool working data, and calculate the tool efficiency according to the tool usage frequency and tool wear amount; Calculate the scheduling priorities of the target tools according to the tool efficiency and the tool movement cost respectively, and sort the target tools according to the scheduling priorities to obtain the tool call queue.

[0034] In this embodiment, first, it is necessary to determine the relative position between the processing machine tool and the target tool, that is, which tools each machine tool needs to use for processing. To this end, the tool request information of each machine tool is obtained, including the type and quantity of the required tools; then, the displacement distance from each machine tool to the target tool is calculated. The displacement distance refers to the actual distance from the position of the machine tool to the position of the target tool in the tool magazine, and this distance can be calculated by an algorithm based on the straight-line distance or the path distance; according to the displacement distance between each machine tool and the target tool and the determined moving speed of the tool magazine, the tool moving cost is further calculated. The moving cost of the tool is calculated based on the moving time. Usually, the moving time is used as the cost metric of the tool. The longer the moving time, the higher the cost. The moving time is obtained by dividing the displacement distance by the moving speed of the tool magazine, and the tool cost is obtained according to the moving time; after that, in order to further optimize the scheduling priority of the tool, the effectiveness of each target tool is calculated according to the historical tool working data. The tool effectiveness is the performance of the tool during use and is usually closely related to the usage frequency and wear amount of the tool. The formula for calculating the tool effectiveness is as follows: ; After calculating the tool effectiveness and tool moving cost of each target tool, the two are combined to calculate the scheduling priority of each tool. The scheduling priority is the weighted result based on the tool effectiveness and the tool moving cost. The tool with high effectiveness and low moving cost is preferentially scheduled; according to the scheduling priority of each tool, the system sorts all target tools to generate a tool call queue, and this queue is arranged in descending order of the scheduling priority to ensure that the tools with high effectiveness and low moving cost are preferentially scheduled.

[0035] Furthermore, sorting the target tools according to the scheduling priority to obtain the tool call queue includes: Constructing a multi-dimensional unordered array based on the target tools, where each target tool corresponds to a scheduling priority, and the multi-dimensional unordered array is a binary tree structure; Performing a reverse traversal based on the target tools in the last non-terminal dimension, and successively comparing the scheduling priority of each target tool with the target tool associated with the terminal dimension; If the scheduling priority of the target tool in the terminal dimension is higher than that of the target tool in the non-terminal dimension, sequence adjustment is performed until the multi-dimensional unordered array becomes a multi-dimensional ordered array to obtain the tool call queue.

[0036] As a preference of the above implementation, first, the system constructs a multi-dimensional unordered array according to the scheduling priorities of the target tools. Each target tool corresponds to a node, and each node contains the scheduling priority of the tool. Initially, this array is unordered, and the order of the tools is not arranged according to the priorities. The purpose is to facilitate subsequent sorting operations. After the array is constructed, reverse traversal is started based on the binary tree structure: First, start from the last non-terminal dimension node, reverse traverse the entire structure, and compare the scheduling priorities of each target tool. Specifically, compare the priority of the current node with the target tool in the terminal dimension. If the priority of the target tool in the terminal dimension is higher than that of the tool at the current node, swap their positions. Repeat this process until the node order of the entire multi-dimensional array is arranged according to the priority order of the tools. Through this method, the nodes with higher tool priorities will automatically move to the front of the queue. In practical applications, assume that 3 tools, T1, T2, and T3, are processed, and their scheduling priorities are 5, 3, and 8 respectively. Initially, the tools T1, T2, and T3 are arranged in the array disorderly. After reverse traversal, the tool T3 will be moved to the front of the queue because it has the highest priority. Then, the tool T1 (priority 5) will be arranged behind T3, and the tool T2 (priority 3) will be arranged at the end of the queue. Finally, the order of the tool call queue will be: T3 (priority 8), T1 (priority 5), T2 (priority 3). Finally, through this reverse traversal and adjustment process, it is ensured that each tool in the tool call queue is arranged in descending priority order. In this process, the generation of the tool call queue is not simply sorted according to the numerical size, but through dynamic adjustment and optimization, the scheduling order of each tool better meets the production requirements. In this way, when the system starts to perform tool scheduling, it will give priority to scheduling the tools with high priorities, thereby reducing the impact of low-priority tools on the production process and improving the overall production efficiency.

[0037] Furthermore, the chain-type tool magazine is cooperatively controlled according to the tool call queue and the conflict resolution strategy, including: Extract the tool call order and the replacement tool according to the tool call queue and the conflict resolution strategy respectively, and integrate the tool call order and the replacement tool to generate a pre-replacement path for the main scheduling path; Judge whether there are scheduling conflict items. If so, trigger the scheduling operation of the replacement tool according to the replacement path. If not, continue scheduling according to the main scheduling path.

[0038] Preferably, as in the above embodiments, a tool call queue is generated according to the requirements of each machine tool. Each tool in the queue has been sorted from high to low according to its scheduling priority, and the tools with higher priorities are arranged in the front. This process ensures that the most urgent and important tools in production can be scheduled first. When generating the tool call queue, the availability, wear condition, and matching degree with the target process of the tools are also considered simultaneously. Then, according to the conflict resolution strategy, it is identified whether each tool has an available alternative tool. In some cases, a tool may not be scheduled on time due to wear, failure, or other reasons, and the system will automatically select an alternative tool with the same or similar function as the main tool as an alternative option for the main tool; after extracting the tool call order and alternative tools, this information is integrated to generate the main scheduling path and the pre-replacement path. The integration process is as follows: First, the system generates the main scheduling path according to the scheduling priority order of the tools to ensure that the tools with high priorities are scheduled first. If a tool is unavailable due to a failure or other reasons during the scheduling process, the system will select an alternative tool according to the preset alternative tool list and generate the pre-replacement path to ensure that the production task is not affected; Next, by integrating the main scheduling path and the pre-replacement path, a complete tool scheduling path is formed. During this process, if the scheduling of the tool in the main scheduling path conflicts due to a failure, the scheduling operation of the alternative tool will be triggered and switched to the pre-replacement path; if there is no conflict, the tool scheduling will continue according to the main scheduling path; Subsequently, the system will determine whether there are scheduling conflict items; The scheduling conflict items include tool availability conflicts (such as failures, shutdowns, or timeouts), machine tool status conflicts (such as the machine tool is processing other tasks and cannot be idle), or tool position conflicts (such as two tools are in the same position); If there is a conflict, the system will trigger the scheduling operation of the alternative tool according to the alternative path and switch to the available alternative tool to perform the production task to ensure that the production line is not interrupted due to conflicts or unavailable tools; On the contrary, if there is no scheduling conflict, the tool scheduling will continue according to the main scheduling path and the production task will be successfully completed in accordance with the priority order of the tools.

[0039] Embodiment 2; Based on the same inventive concept as the collaborative scheduling method for a chain-type tool magazine in the foregoing embodiments, the present invention also provides a collaborative scheduling system for a chain-type tool magazine. The system includes: A tool request scheduling module that obtains the tool request queues of multiple machine tools in real time and determines several tool scheduling requirements according to the tool request queues; A tool queue generation module that collects the physical positions of the tools and the historical tool working data, and generates a tool call queue based on the physical positions of the tools and the historical tool working data. The tool call queue represents the initial call order of several tools; The conflict resolution decision-making module establishes a conflict decision-making network, determines scheduling conflict items according to several tool scheduling requirements, and resolves the scheduling conflict items based on the conflict decision-making network; The collaborative tool magazine control module collaboratively controls the chain-type tool magazine according to the tool call queue and the conflict resolution strategy.

[0040] The above adjustment system in the present invention can effectively implement a collaborative scheduling method for a chain-type tool magazine, and the technical effects that can be achieved are as described in the above embodiments, which will not be elaborated here.

[0041] Furthermore, the tool queue generation module includes: The tool displacement calculation unit determines the processing machine tool and several target tools, calculates the tool displacement distances between the processing machine tool and the target tools respectively, and calculates and obtains the tool movement cost according to the tool displacement distances; The tool efficiency evaluation unit extracts the tool usage frequency and tool wear amount of each target tool according to the historical tool working data, and calculates the tool efficiency according to the tool usage frequency and tool wear amount; The tool priority sorting unit calculates the scheduling priorities of the target tools according to the tool efficiency and the tool movement cost respectively, and sorts the target tools according to the scheduling priorities to obtain the tool call queue.

[0042] Similarly, for the above optimization solutions of the system, the corresponding optimization effects of the methods in Embodiment 1 can also be realized respectively, which will not be elaborated here either.

[0043] Although the present application has been described in combination with specific features and their embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary descriptions of the present application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. A collaborative scheduling method for a chain-type tool magazine, characterized in that The method includes: Obtaining the tool request queues of multiple machine tools in real time, and determining several tool scheduling requirements according to the tool request queues; Collecting the physical positions of tools and historical tool working data, and generating a tool call queue based on the physical positions of tools and historical tool working data, where the tool call queue represents the initial call order of several tools; Establishing a conflict decision network, determining scheduling conflict items according to several tool scheduling requirements, and resolving conflicts of the scheduling conflict items based on the conflict decision network; Coordinating and controlling the chain-type tool magazine according to the tool call queue and conflict resolution strategy.

2. The collaborative scheduling method of the chain tool magazine according to claim 1, wherein Resolving conflicts of the scheduling conflict items based on the conflict decision network includes: Respectively obtaining the conflicting processes of the corresponding tool magazines according to the scheduling conflict items, comparing the urgency of the conflicting processes in their respective processes, and dividing the urgent processes and standby processes according to the urgency; Setting the highest priority scheduling level for the urgent processes, interrupting the occupancy status of the conflicting tools by the current non-urgent processes, and scheduling them to the standby positions, calculating the shortest moving path of the conflicting tools to the urgent processes, and preferentially scheduling the conflicting tools according to the shortest moving path; Traversing the chain-type tool magazine to determine whether there are replacement tools for the conflicting tools. When there are replacement tools, calculating the shortest path of the replacement tools to the standby processes, and scheduling the standby processes according to the shortest path; When there are no replacement tools for the conflicting tools, obtaining the standby time limit of the standby processes according to the historical tool magazine call information, setting a countdown detection window, cyclically detecting the release information of the conflicting tools based on the standby time limit, and controlling the standby processes according to the release information of the conflicting tools.

3. The collaborative scheduling method of the chain-type tool magazine according to claim 2, wherein Comparing the urgency of the conflicting processes in their respective processes includes: Collecting production economic data and obtaining the loss per unit time, respectively calculating the process delay costs of the conflicting processes according to the loss per unit time, and screening the first urgent process according to the process delay costs; Respectively obtaining the process logic nodes corresponding to the conflicting processes according to the tool request queues, evaluating the influence degree of the process logic nodes on subsequent processes, and screening the second urgent process according to the influence degree; Judging whether the first urgent process and the second urgent process are the same. If they are the same, determining the urgent process. If they are not the same, judging whether the subsequent process nodes of the process logic nodes are greater than a preset threshold. If they are greater, selecting the first urgent process.

4. The collaborative scheduling method of the chain-type tool magazine according to claim 2, wherein Calculating the shortest moving path of the conflicting tools to the urgent processes includes: Obtaining several basic moving paths according to historical tool scheduling information, and respectively calculating and obtaining the theoretical moving durations of each basic moving path according to the moving speed of the tool magazine; For each basic moving path, detecting the tool obstacles on the basic moving path in real time, dividing the conflict levels according to the tool obstacles and assigning penalty factors; For each of the described basic movement paths, the theoretical movement duration is weighted and corrected according to the penalty factor to obtain a corrected movement duration. By comparing several of the corrected movement durations, the shortest movement path is obtained according to the comparison result.

5. The collaborative scheduling method of the chain-type tool magazine according to claim 4, wherein, Allocating the penalty factor according to the tool obstacle includes: Collect historical tool obstacle information, identify the obstacle types on the basic movement path according to the historical tool obstacle information, and allocate initial risk factors according to the obstacle types; Obtain the tool topology result, obtain the tool obstacle position information according to the tool topology result, and obtain the path position sensitivity of the position where the obstacle is located according to the tool obstacle position information. The path position sensitivity is positively correlated with the influence degree of the position where the obstacle is located on the overall scheduling efficiency of the tool magazine; Correct the initial risk factor according to the path position sensitivity to obtain the penalty factor.

6. The collaborative scheduling method for a chain tool magazine according to claim 1, characterized in that: Generating a tool call queue based on the tool physical position and historical tool working data includes: Determine the processing machine tool and several target tools, calculate the tool displacement distances between the processing machine tool and the target tools respectively, and calculate and obtain the tool movement cost according to the tool displacement distances; Extract the tool usage frequency and tool wear amount of each target tool according to the historical tool working data, and calculate the tool efficiency according to the tool usage frequency and tool wear amount; Calculate the scheduling priorities of the target tools respectively according to the tool efficiency and tool movement cost, and sort the target tools according to the scheduling priorities to obtain a tool call queue.

7. The collaborative scheduling method of the chain-type tool magazine according to claim 6, wherein Sort the target tools according to the scheduling priorities to obtain a tool call queue, including: Construct a multi-dimensional unordered array according to the target tools, where each target tool corresponds to a scheduling priority, and the multi-dimensional unordered array is a binary tree structure; Perform reverse traversal based on the target tools in the last non-terminal dimension, and compare the scheduling priorities of each target tool with the target tools associated with the terminal dimension in turn; If the scheduling priority of the target tool in the terminal dimension is higher than that of the target tool in the non-terminal dimension, perform sequence adjustment until the multi-dimensional unordered array becomes a multi-dimensional ordered array to obtain a tool call queue.

8. The collaborative scheduling method of the chain-type tool magazine according to claim 1, wherein, Cooperatively control the chain-type tool magazine according to the tool call queue and the conflict resolution strategy, including: Extract the tool call order and alternative tool according to the tool call queue and the conflict resolution strategy respectively, and integrate the tool call order and the alternative tool to generate a pre-replacement path for the main scheduling path; Judge whether there is a scheduling conflict item. If so, trigger the scheduling operation of the alternative tool according to the replacement path. If not, continue the scheduling according to the main scheduling path.

9. A collaborative scheduling system for a chain-type tool magazine, characterized in that, The system includes: A tool request scheduling module that real-time obtains the tool request queues of multiple machine tools and determines several tool scheduling requirements according to the tool request queues; A tool queue generation module that collects tool physical positions and historical tool working data, and generates a tool call queue based on the tool physical positions and historical tool working data. The tool call queue represents the initial call order of several tools. The conflict resolution decision-making module establishes a conflict decision-making network, determines scheduling conflict items according to a plurality of the tool scheduling requirements, and resolves the scheduling conflict items based on the conflict decision-making network; The cooperative tool magazine control module cooperatively controls the chain-type tool magazine according to the tool call queue and the conflict resolution strategy.

10. The collaborative scheduling system of the chain-type tool magazine according to claim 9, characterized in that, The tool queue generation module includes: The tool displacement calculation unit determines a processing machine tool and a plurality of target tools, calculates the tool displacement distances between the processing machine tool and the target tools respectively, and calculates and obtains the tool movement cost according to the tool displacement distances; The tool efficiency evaluation unit extracts the tool usage frequency and tool wear amount of each target tool according to the historical tool working data, and calculates the tool efficiency according to the tool usage frequency and the tool wear amount; The tool priority sorting unit calculates the scheduling priorities of the target tools according to the tool efficiency and the tool movement cost respectively, sorts the target tools according to the scheduling priorities, and obtains a tool call queue.

Images