A cooperative scheduling method and system of a chain tool magazine

Abstract

The present application relates to the technical field of machine tool tool magazine scheduling, in particular to a chain tool magazine cooperative scheduling method and system, the method comprising: determining a plurality of tool scheduling requirements through a real-time acquired tool request queue, generating a tool call queue according to collected tool physical positions 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 cooperatively controlling the chain tool magazine according to the tool call queue and the conflict resolution strategy. Through the present application, the problem of complex timing and frequent conflicts in tool requests when facing multi-machine cooperative scheduling is effectively solved, the time of tool switching and the delay caused by conflicts are effectively reduced through reasonable tool scheduling and conflict resolution, and the overall machining efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of machine tool magazine scheduling technology, and in particular to a collaborative scheduling method and system for a chain-type tool magazine. Background Technology

[0002] With the increasing automation of the manufacturing industry, chain tool magazines, as a key component of machine tool automation systems, are widely used in CNC machine tools, machining centers, and other equipment. Through mechanical transmission, chain tool magazines can quickly and accurately transfer tools from the storage location to the machining location, significantly improving tool change efficiency. At the same time, the efficient scheduling of chain tool magazines plays a crucial role in improving machining efficiency and reducing non-machining time. Especially in the context of multi-machine tool collaborative scheduling, how to optimize tool scheduling and ensure the rational allocation and efficient use of tools has become one of the key technologies for improving the overall efficiency of the production line.

[0003] Existing chain tool magazine scheduling methods mostly adopt fixed scheduling strategies or experience-based scheduling methods, usually using simple time-slice round-robin or priority polling for tool scheduling. However, when faced with multi-machine collaborative scheduling, these methods often struggle to handle the complex timing and frequent conflicts of tool requests in a timely manner. This leads to low scheduling efficiency, frequent tool conflicts, and consequently affects the overall efficiency of the production line, further impacting processing efficiency and production stability.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

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

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A collaborative scheduling method for a chain-type tool magazine, the method comprising:

[0008] The tool request queues of multiple machine tools are acquired in real time, and several tool scheduling requirements are determined based on the tool request queues.

[0009] Collect the physical location of the tool and historical tool working data, and generate a tool call queue based on the physical location of the tool and historical tool working data. The tool call queue represents the initial call order of several tools.

[0010] A conflict decision network is established to determine scheduling conflict items based on several tool scheduling requirements, and to resolve the scheduling conflict items based on the conflict decision network.

[0011] The chain-type tool magazine is controlled collaboratively based on the tool call queue and conflict resolution strategy.

[0012] Furthermore, conflict resolution of the scheduling conflict items based on the conflict decision network includes:

[0013] Based on the scheduling conflict item, obtain the conflicting process of the corresponding tool magazine, compare the urgency of the conflicting process in each process, and divide the urgent process into urgent process and standby process according to the urgency.

[0014] The emergency process is assigned the highest priority scheduling level, interrupting the current non-emergency process's occupation of the conflicting tool and scheduling it to a standby position. The shortest movement path from the conflicting tool to the emergency process is calculated, and the conflicting tool is prioritized for scheduling based on the shortest movement path.

[0015] Traverse the chain tool magazine, determine whether there is a replacement tool for the conflicting tool, and when there is a replacement tool, calculate the shortest path from the replacement tool to the standby process, and schedule the standby process according to the shortest path;

[0016] When there is no replacement tool for the conflicting tool, the standby time limit of the standby process is obtained according to the historical tool magazine call information, and a countdown detection window is set. The conflicting tool release information is detected cyclically based on the standby time limit, and the standby process is controlled according to the conflicting tool release information.

[0017] Furthermore, comparing the urgency of the conflicting processes within their respective processes includes:

[0018] Collect production economic data and obtain the unit time loss. Calculate the process delay cost of the conflicting processes based on the unit time loss, and select the first urgent process based on the process delay cost.

[0019] According to the tool request queue, obtain the corresponding process logic node of the conflicting process, evaluate the impact of the process logic node on the subsequent process, and select the second urgent process according to the impact.

[0020] Determine whether the first emergency process and the second emergency process are the same. If they are the same, then the emergency process is determined. If they are not the same, determine whether the subsequent process nodes of the process logic node are greater than a preset threshold. If they are greater, then the first emergency process is selected.

[0021] Further, calculating the shortest movement path from the conflicting tool to the emergency operation includes:

[0022] Several basic movement paths are obtained based on historical tool scheduling information, and the theoretical movement time of each basic movement path is calculated and obtained based on the tool magazine movement speed.

[0023] For each of the basic movement paths, tool obstacles on the basic movement paths are detected in real time, and conflict levels are classified and penalty factors are assigned based on the tool obstacles;

[0024] For each of the basic movement paths, the theoretical movement time is weighted and corrected according to the penalty factor to obtain the corrected movement time. Several corrected movement times are compared, and the shortest movement path is obtained based on the comparison results.

[0025] Further, the penalty factor is assigned based on the tool obstacle, including:

[0026] Collect historical tool obstacle information, identify the obstacle types on the basic movement path based on the historical tool obstacle information, and assign initial risk factors based on the obstacle types;

[0027] Obtain tool topology results, obtain tool obstacle location information based on the tool topology results, and obtain path location sensitivity of the obstacle location based on the tool obstacle location information. The path location sensitivity is positively correlated with the degree of influence of the obstacle location on the overall scheduling efficiency of the tool magazine.

[0028] The initial risk factor is modified based on the path location sensitivity to obtain a penalty factor.

[0029] Furthermore, a tool call queue is generated based on the physical location of the tool and historical tool working data, including:

[0030] Determine the machine tool and several target cutting tools, calculate the tool displacement distance between the machine tool and the target cutting tools respectively, and calculate and obtain the tool movement cost based on the tool displacement distance;

[0031] The tool usage frequency and tool wear amount of each target tool are extracted based on the historical tool working data, and the tool efficiency is calculated based on the tool usage frequency and tool wear amount.

[0032] The scheduling priority of the target tool is calculated based on the tool performance and tool movement cost, and the target tools are sorted according to the scheduling priority to obtain the tool call queue.

[0033] Further, sorting the target tools according to the scheduling priority to obtain a tool call queue includes:

[0034] A multidimensional disordered array is constructed based on the target tool, wherein each target tool corresponds to a scheduling priority, and the multidimensional disordered array is a binary tree structure.

[0035] Based on the target tool in the last non-end dimension, a reverse traversal is performed, and the scheduling priority of each target tool is compared with the target tool associated with the end dimension in turn;

[0036] If the scheduling priority of the target tool in the end dimension is higher than that of the target tool in the non-end dimension, then sequence adjustment is performed until the multidimensional unordered array becomes a multidimensional ordered array, and the tool call queue is obtained.

[0037] Furthermore, the chain-type tool magazine is coordinated and controlled according to the tool recall queue and conflict resolution strategy, including:

[0038] Based on the tool call queue and conflict resolution strategy, the tool call order and alternative tools are extracted respectively, and the tool call order and alternative tools are integrated to generate the main scheduling path pre-replacement path;

[0039] Determine if there is a scheduling conflict. If so, trigger the scheduling operation of the alternative tool according to the replacement path. If not, continue scheduling according to the main scheduling path.

[0040] A collaborative scheduling system for a chain-type tool magazine, the system comprising:

[0041] The tool request scheduling module acquires the tool request queues of multiple machine tools in real time and determines several tool scheduling requirements based on the tool request queues.

[0042] The tool queue generation module collects the physical location of tools and historical tool working data, and generates a tool call queue based on the physical location of tools and historical tool working data. The tool call queue represents the initial calling order of several tools.

[0043] The conflict resolution decision module establishes a conflict decision network, determines scheduling conflict items based on several tool scheduling requirements, and resolves the scheduling conflict items based on the conflict decision network.

[0044] The collaborative tool magazine control module performs collaborative control of the chain tool magazine based on the tool call queue and conflict resolution strategy.

[0045] Furthermore, the tool queue generation module includes:

[0046] The tool displacement calculation unit determines the machining tool and several target tools, calculates the tool displacement distance between the machining tool and the target tools respectively, and calculates and obtains the tool movement cost based on the tool displacement distance;

[0047] The tool performance evaluation unit extracts the tool usage frequency and tool wear amount of each target tool based on the historical tool working data, and calculates the tool performance based on the tool usage frequency and tool wear amount.

[0048] The tool priority sorting unit calculates the scheduling priority of the target tool based on the tool efficiency and tool movement cost, sorts the target tools according to the scheduling priority, and obtains the tool call queue.

[0049] The technical solution of this invention can achieve the following technical effects:

[0050] It effectively solves the problem of the complex timing and frequent conflicts of tool requests that are often difficult to handle in a timely manner when facing multi-machine tool collaborative scheduling. Through reasonable tool scheduling and conflict resolution, it effectively reduces tool changeover time and delays caused by conflicts, improves overall machining efficiency, optimizes tool scheduling priority, reduces tool wear and unnecessary maintenance costs, and improves the economic efficiency of tool use.

[0051] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a flowchart illustrating a collaborative scheduling method for a chain-type tool magazine.

[0054] Figure 2 A flowchart illustrating the conflict resolution process;

[0055] Figure 3 A flowchart illustrating the comparison of urgency levels;

[0056] Figure 4 A diagram illustrating the relationships involved in conflict resolution;

[0057] Figure 5 This is a diagram illustrating the relationship between the levels of urgency. Detailed Implementation

[0058] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0060] Example 1;

[0061] like Figure 1 As shown, this application provides a collaborative scheduling method for a chain-type tool magazine, the method including:

[0062] S10: Obtain the tool request queue of multiple machine tools in real time, and determine several tool scheduling requirements based on the tool request queue;

[0063] S20: Collect the physical location of the tool and historical tool working data, and generate a tool call queue based on the physical location of the tool and historical tool working data. The tool call queue represents the initial call order of several tools.

[0064] S30: Establish a conflict decision network, determine scheduling conflict items based on several tool scheduling requirements, and resolve scheduling conflict items based on the conflict decision network;

[0065] S40: Perform coordinated control of the chain tool magazine based on the tool call queue and conflict resolution strategy.

[0066] Specifically, tool request information is first transmitted in real time via network interfaces (such as the interface between the PLC control system and the tool magazine) or sensors (photoelectric sensors, position sensors). Each machine tool issues a request based on its machining task and the required tools. Each machine tool's tool request information includes the tool number, the workpiece information to be machined, and the urgency level. The tool request queue is dynamically changing, representing the current demand of each machine tool for different tools. Subsequently, the physical location of each tool in the tool magazine and historical tool operation data can be obtained through the tool magazine management system. The physical location refers to the storage location of each tool in the tool magazine, while the historical tool operation data includes the usage frequency, wear condition, and utilization efficiency of each tool. Using this data, a tool call queue can be generated, representing the initial call order of tools. Then, a conflict decision network is established to resolve scheduling conflicts. 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. Each node represents a specific scheduling object. Tool nodes represent tools in the tool magazine, machine tool nodes represent the machine tool's status, scheduling request nodes represent the machine tool's tool requirements, and process nodes represent various processes in the production process. Next, the edges between nodes are determined, representing the relationships and conflicts between them. Conflict edges indicate conflicts between scheduling requests, such as multiple machine tools requesting the same tool or time conflicts between processes. Priority conflict edges indicate that certain tasks require priority scheduling due to their high urgency. Resource contention edges indicate that multiple tasks are competing for the same resource (such as tools), and dependency edges indicate that certain tasks must wait for other tasks to complete before they can proceed. Conflict identification then identifies which scheduling requests are conflicting by analyzing the edges between nodes. Specifically, the system identifies conflicting tool requests, time conflicts, or resource contention issues based on the conflict edges between nodes. Finally, the system applies conflict resolution rules, resolving these conflicts through strategies such as setting priorities, selecting alternative tools, and adjusting the task order. The goal of conflict resolution is to minimize delays and conflicts in the production process and optimize tool scheduling paths. After determining the tool request queue, tool call queue, and conflict resolution strategies, the system will perform collaborative control of the chain tool magazine based on this information.

[0067] The technical solution of this invention effectively solves the problem that when facing multi-machine tool collaborative scheduling, it is often difficult to handle the complex timing of tool requests and frequent conflicts. Through reasonable tool scheduling and conflict resolution, the time for tool switching and the delay caused by conflicts are effectively reduced, the overall machining efficiency is improved, the scheduling priority of tools is optimized, the wear and unnecessary maintenance costs of tools are reduced, and the economic efficiency of tool use is improved.

[0068] Furthermore, such as Figure 2 , Figure 4 As shown, conflict resolution of scheduling conflicts based on a conflict decision network includes:

[0069] S31: Obtain the conflicting operations of the corresponding tool magazine according to the scheduling conflict items, compare the urgency of the conflicting operations in their respective operations, and divide them into urgent operations and standby operations according to the urgency.

[0070] S32: Set the highest priority scheduling level for emergency processes, interrupt the current non-emergency process's occupation of conflicting tools, and schedule them to standby positions. Calculate the shortest movement path from the conflicting tools to the emergency process, and prioritize scheduling the conflicting tools based on the shortest movement path.

[0071] S33: Traverse the chain tool magazine, determine whether there is a replacement tool for the conflicting tool, and if there is a replacement tool, calculate the shortest path from the replacement tool to the standby process, and schedule the standby process according to the shortest path.

[0072] S34: There is no replacement tool for the conflicting tool. Obtain the standby time limit of the standby process based on the historical tool magazine call information, and set a countdown detection window. Circularly detect the conflicting tool release information based on the standby time limit, and control the standby process according to the conflicting tool release information.

[0073] As a preferred embodiment of the above, firstly, the conflict relationship between the tool request queue and the tool call queue is analyzed through a conflict decision network to determine which tool requests are conflicting. These conflicts are usually due to multiple machine tools requesting the same tool, or due to limitations in the physical location of the tool or scheduling time, making it impossible to meet all scheduling needs. Then, for each conflicting process, the urgency of the conflicting process in its respective process is compared and divided into urgent processes and standby processes. The urgent processes are given the highest priority, and the tools for these urgent processes are scheduled first. If the tool required by the urgent process is being occupied by a non-urgent process, the system will interrupt the non-urgent process's occupation of the tool and schedule it to a standby position. The non-urgent process can be rescheduled later. Once the tool of the non-urgent process is released, the shortest movement path from the tool to the urgent process is calculated, and the tool is scheduled first to complete the machining of the urgent process as soon as possible. For standby processes, the first step is to determine if there is a replaceable tool. The determination method is as follows: First, the characteristics of the tool are judged to ensure that the type, function, size, shape, etc. of the replaceable tool match the conflicting tool. For example, the system will check whether the replaceable tool has the same cutting performance, applicable materials, and processing requirements. Next, the system will assess the wear degree of the replaceable tool and exclude tools that are severely worn or require maintenance. Then, the system will also consider the physical location of the replaceable tool to ensure that it is not occupied by other machine tools and can be scheduled to arrive in a reasonable time. Meanwhile, tool availability must also meet scheduling requirements, including matching tool scheduling priority with task urgency. Finally, the shortest path from the replacement tool to the machine tool is calculated, and it is assessed whether scheduling can be completed within the specified time. Only when the characteristics of the replacement tool meet all conditions is it selected as the replacement tool. When a 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 historical tool magazine call data. During the standby process waiting for the conflicting tool to be released, the release status of the conflicting tool is checked periodically by setting a countdown window, and the status of the conflicting tool is checked periodically according to the countdown window to determine whether there is release information. Once the tool is released, scheduling is immediately performed and corresponding control is executed.

[0074] Furthermore, such as Figure 3 , Figure 5 As shown, the urgency of conflicting processes within their respective processes is compared, including:

[0075] S311: Collect production economic data and obtain the unit time loss, calculate the process delay cost of conflicting processes based on the unit time loss, and select the first urgent process based on the process delay cost.

[0076] S312: Obtain the corresponding conflicting process logic nodes according to the tool request queue, evaluate the impact of the process logic nodes on subsequent processes, and select the second urgent process based on the impact.

[0077] S313: Determine whether the first emergency process and the second emergency process are the same. If they are the same, then determine the emergency process. If they are not the same, then determine whether the subsequent process nodes of the process logic node are greater than the preset threshold. If they are greater, then select the first emergency process.

[0078] In this embodiment, the first step in the conflict decision-making process is to collect production economic data, which includes unit time loss in the production process. Unit time loss refers to the economic loss caused by the failure to complete tasks or delays in processes within each unit of time. The cost of process delay is calculated based on the unit time loss, i.e., the loss caused by delaying the execution of the process for each unit of time. The calculation formula is as follows:

[0079] ;

[0080] The delay cost of each conflicting process is calculated, and the processes are ranked based on this cost. The process with the highest delay cost is prioritized and becomes the first urgent process. Then, the process logic nodes for each conflicting process are obtained from the tool request queue, and the impact of these nodes on subsequent processes is evaluated. The evaluation process can be as follows: First, a process logic diagram is constructed based on the work sequence of each process and its dependency on subsequent processes, representing the order and impact between processes. Then, the lag time of each process delay on subsequent processes is evaluated, i.e., the delay time that causes subsequent processes to start, considering the importance and urgency of the processes, to calculate the impact of each process. Specifically, the impact of each process is calculated by weighting the lag time and the importance factor. The importance factor represents the degree of impact of a process on other processes in the production process and its priority in production; it is a weight value that can be assigned based on historical experience in some embodiments. Processes with greater impact have higher priority. The formula for calculating the impact is as follows:

[0081] ;

[0082] Finally, based on the degree of impact, determine which processes have the greatest impact on subsequent processes and select the second emergency process; determine whether the first and second emergency processes are the same. If they are the same, then the process is determined to be an emergency process. If the first and second emergency processes are different, then further determine the subsequent process nodes, that is, assess the number of subsequent process nodes. If the number of subsequent process nodes is greater than the preset node threshold, then select the first emergency process for scheduling.

[0083] Furthermore, calculating the shortest movement path from the conflicting tool to the emergency operation includes:

[0084] Several basic movement paths are obtained based on historical tool scheduling information, and the theoretical movement time of each basic movement path is calculated and obtained based on the tool magazine movement speed.

[0085] For each basic movement path, tool obstacles on the basic movement path are detected in real time, and conflict levels are classified and penalty factors are assigned according to the tool obstacles;

[0086] For each basic movement path, the theoretical movement time is weighted and corrected according to the penalty factor to obtain the corrected movement time. Several corrected movement times are compared, and the shortest movement path is obtained based on the comparison results.

[0087] Specifically, firstly, based on historical tool scheduling information, several possible basic movement paths and their lengths are obtained. Each basic movement path represents the path required from the current tool position to the target operation (such as an urgent operation). Simultaneously, the tool magazine movement rate is obtained from the tool magazine management system, and the theoretical movement time is calculated based on the tool magazine movement rate and the basic movement path length. For each basic movement path, obstacles may be encountered. These obstacles affect the tool's movement time and path selection. Obstacles on the path (such as other tools, machine tools, moving machinery, etc.) can be monitored in real time using sensors or image recognition technology within the tool magazine. Based on the type of obstacle and its impact on tool movement, a path is assigned to each obstacle. The system classifies obstacles into conflict levels. High-level obstacles significantly affect tool movement speed, while low-level obstacles have a smaller impact. The following classification method serves as an example: Conflict Level 1: Minor obstacle, minimal impact on movement; Conflict Level 2: Moderate obstacle, slightly slower movement speed; and so on. Based on the conflict level of obstacles on the path, a penalty factor is assigned to each path. The penalty factor represents the degree of impact of the obstacle on the path; the higher the conflict level, the larger the penalty factor. Once the penalty factor for each basic path is determined, the system will weighted adjust the theoretical movement time of each path according to the penalty factor. The adjusted time reflects the actual impact of the obstacle on the path. The weighted adjusted movement time is calculated using the following formula:

[0088] ;

[0089] Finally, after calculating the corrected travel time for all base paths, the paths are compared, and the path with the shortest corrected travel time is selected as the final scheduling path.

[0090] Furthermore, penalty factors are assigned based on the obstacle encountered by the tool, including:

[0091] Collect historical tool obstacle information, identify obstacle types on the basic movement path based on the historical tool obstacle information, and assign initial risk factors based on obstacle types;

[0092] Obtain tool topology results, obtain tool obstacle location information based on tool topology results, obtain path location sensitivity of obstacle location based on tool obstacle location information, and the path location sensitivity is positively correlated with the degree of influence of obstacle location on the overall tool magazine scheduling efficiency;

[0093] The initial risk factor is modified based on the sensitivity of the path location to obtain the penalty factor.

[0094] As a preferred embodiment of the above, firstly, by collecting historical tool scheduling information, obstacles on the path are identified, and initial risk factors are assigned according to the type, size, and impact of the obstacles on the tool path. Specifically, obstacles can be divided into static obstacles and dynamic obstacles. Static obstacles (such as fixed machine tools, walls, etc.) have a relatively small impact on tool movement due to their fixed position, and therefore have a lower initial risk factor. Dynamic obstacles (such as moving tools, moving parts of machine tools, etc.) have an impact that changes over time and may obstruct the tool path, and therefore are assigned a higher initial risk factor. Next, based on the tool topology, the specific location of each obstacle on the tool path is obtained, and the path location sensitivity is calculated. Path location sensitivity refers to the degree of influence of the obstacle's location on path scheduling, especially its impact on key nodes on the path (such as starting points, turning points, etc.). Path location sensitivity can be calculated using the following formula:

[0095] ;

[0096] The distance to obstacles represents the spatial distance between path nodes and obstacles. The closer an obstacle is to a critical node on the path, the higher its sensitivity and the greater its impact. Based on this, the system corrects the initial risk factor of each path according to the path location sensitivity to obtain a penalty factor. The correction process is achieved by multiplying the initial risk factor by the path location sensitivity. Finally, the corrected penalty factors for all paths are calculated, and the theoretical movement time of each path is weighted and corrected according to these penalty factors. After the impact of obstacles on the path is weighted and corrected, the system selects the shortest corrected path as the final scheduling path to ensure that the tool can be scheduled in the shortest possible time.

[0097] Furthermore, a tool call queue is generated based on the physical location of the tool and historical tool working data, including:

[0098] Determine the machine tool and several target cutting tools, calculate the tool displacement distance between the machine tool and the target cutting tools respectively, and calculate and obtain the tool movement cost based on the tool displacement distance;

[0099] Extract the tool usage frequency and tool wear amount for each target tool based on historical tool working data, and calculate the tool efficiency based on the tool usage frequency and tool wear amount;

[0100] The scheduling priority of the target tool is calculated based on tool efficiency and tool movement cost, and the target tools are sorted according to the scheduling priority to obtain the tool call queue.

[0101] In this embodiment, firstly, it is necessary to determine the relative position between the machine tool and the target tool, i.e., which tools each machine tool needs to use for machining. To do this, tool request information for each machine tool is obtained, including the type and quantity of tools required. Then, the displacement distance from each machine tool to the target tool is calculated. The displacement distance refers to the actual distance from the machine tool position to the location of the target tool in the tool magazine. This distance can be calculated using algorithms based on straight-line distance or path distance. Based on the displacement distance between each machine tool and the target tool and the determined tool magazine movement speed, the tool movement cost is further calculated. The tool movement cost is calculated based on the movement time, which is typically used as a cost metric. The longer the movement time, the higher the cost. The movement time is obtained by dividing the displacement distance by the tool magazine movement speed, and the tool cost is derived from the movement time. Next, to further optimize the tool scheduling priority, the efficiency of each target tool is calculated based on historical tool operation data. Tool efficiency is the performance of the tool during use, which is usually closely related to the frequency of tool use and wear. The tool efficiency calculation formula is as follows:

[0102] ;

[0103] After calculating the tool efficiency and tool movement cost of each target tool, these two factors are combined to calculate the scheduling priority of each tool. The scheduling priority is based on the weighted result of tool efficiency and tool movement cost, prioritizing the scheduling of tools with high efficiency and low movement cost. According to the scheduling priority of each tool, the system sorts all target tools and generates a tool call queue. This queue is arranged according to the scheduling priority to ensure that tools with high efficiency and low movement cost are scheduled first.

[0104] Furthermore, the target tools are sorted according to scheduling priority to obtain the tool call queue, including:

[0105] A multidimensional disordered array is constructed based on the target tool, where each target tool corresponds to a scheduling priority, and the multidimensional disordered array is a binary tree structure.

[0106] Based on the target tool in the last non-end dimension, reverse traversal is performed, and the scheduling priority of each target tool is compared with the target tool associated with the end dimension in turn;

[0107] If the scheduling priority of the target tool in the end dimension is higher than that of the target tool in the non-end dimension, then the sequence is adjusted until the multidimensional unordered array becomes a multidimensional ordered array, and the tool call queue is obtained.

[0108] As a preferred implementation, the system first constructs a multi-dimensional unordered array based on the scheduling priority of the target tools. Each target tool corresponds to a node, and each node contains the scheduling priority of that tool. Initially, this array is unordered, and the tools are not arranged according to priority to facilitate subsequent sorting operations. After the array is constructed, a reverse traversal based on a binary tree structure is performed: starting from the last non-terminal dimension node, the entire structure is traversed in reverse, and the scheduling priority of each target tool is compared. Specifically, the priority of the current node is compared with that of the target tools in the last dimension. If the priority of the target tool in the last dimension is higher than that of the tool in the current node, their positions are swapped. This process is repeated until the node order of the entire multi-dimensional array is arranged according to the priority order of the tools. In this way, the node with the higher tool priority will automatically move to the front of the queue. In practical applications, assuming 3 tools T1 are being processed... Tools T2 and T3 have scheduling priorities of 5, 3, and 8 respectively. Initially, tools T1, T2, and T3 are randomly arranged in the array. After reverse traversal, tool T3 is moved to the front of the queue because it has the highest priority. Then, tool T1 (priority 5) is placed after T3, and tool T2 (priority 3) is placed 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). In the end, through this reverse traversal and adjustment process, it is ensured that each tool in the tool call queue is arranged in descending order of priority. In this process, the generation of the tool call queue is not simply sorted by numerical size, but dynamically adjusted and optimized so that the scheduling order of each tool is more in line with production needs. In this way, when the system starts to execute tool scheduling, it will prioritize scheduling those high-priority tools, thereby reducing the impact of low-priority tools on the production process and improving overall production efficiency.

[0109] Furthermore, the chain tool magazine is coordinated and controlled based on the tool recall queue and conflict resolution strategy, including:

[0110] Based on the tool call queue and conflict resolution strategy, the tool call order and alternative tools are extracted respectively, and the tool call order and alternative tools are integrated to generate the main scheduling path pre-replacement path;

[0111] Determine if there is a scheduling conflict. If so, trigger the scheduling operation of the alternative tool according to the alternative path. If not, continue scheduling according to the main scheduling path.

[0112] As a preferred embodiment of the above, a tool call queue is generated according to the needs of each machine tool. Each tool in the queue is sorted according to its scheduling priority from high to low, with higher priority tools listed first. This process ensures that the most urgent and important tools in production are scheduled first. When generating the tool call queue, the availability, wear condition, and matching degree of the tools with the target process are also considered. Then, according to the conflict resolution strategy, it is identified whether there is an available alternative tool for each tool. In some cases, a tool may not be scheduled on time due to wear, failure, or other reasons. The system will automatically select an alternative tool with the same or similar function as the replacement 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 high-priority tools are scheduled first. If a tool becomes unavailable due to failure or other reasons during the scheduling process, the system will... Based on a pre-defined list of alternative tools, an alternative tool is selected, and a pre-replacement path is generated to ensure that production tasks are not affected. Next, the main scheduling path and the pre-replacement path are integrated to form a complete tool scheduling path. During this process, if a tool scheduling conflict occurs in the main scheduling path due to a fault, an alternative tool scheduling operation will be triggered, switching to the pre-replacement path. If there is no conflict, tool scheduling will continue according to the main scheduling path. Subsequently, the system will determine whether there are scheduling conflicts. Scheduling conflicts include tool availability conflicts (such as faults, downtime, 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 in the same position). If a conflict exists, the system will trigger an alternative tool scheduling operation according to the alternative path, switching to an available alternative tool to perform production tasks, ensuring that the production line is not interrupted due to conflicts or unavailable tools. Conversely, if there is no scheduling conflict, tool scheduling will continue according to the main scheduling path, and production tasks will be completed smoothly according to the priority order of the tools.

[0113] Example 2;

[0114] 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 comprising:

[0115] The tool request scheduling module acquires the tool request queues of multiple machine tools in real time and determines several tool scheduling requirements based on the tool request queues.

[0116] The tool queue generation module collects the physical location of tools and historical tool working data, and generates a tool call queue based on the physical location of tools and historical tool working data. The tool call queue represents the initial calling order of several tools.

[0117] The conflict resolution decision module establishes a conflict decision network, determines scheduling conflict items based on several tool scheduling requirements, and resolves the scheduling conflict items based on the conflict decision network.

[0118] The collaborative tool magazine control module performs collaborative control of the chain tool magazine based on the tool call queue and conflict resolution strategy.

[0119] The adjustment system described above in this invention can effectively realize a collaborative scheduling method for a chain-type tool magazine, and the technical effects it can achieve are as described in the above embodiments, and will not be repeated here.

[0120] Furthermore, the tool queue generation module includes:

[0121] The tool displacement calculation unit determines the machine tool and several target tools, calculates the tool displacement distance between the machine tool and the target tools respectively, and calculates and obtains the tool movement cost based on the tool displacement distance;

[0122] The tool performance evaluation unit extracts the tool usage frequency and tool wear amount of each target tool based on historical tool working data, and calculates the tool performance based on the tool usage frequency and tool wear amount.

[0123] The tool priority sorting unit calculates the scheduling priority of the target tool based on tool efficiency and tool movement cost, sorts the target tools according to the scheduling priority, and obtains the tool call queue.

[0124] Similarly, the above-mentioned optimization schemes for the system can also achieve the optimization effects corresponding to the methods in Embodiment 1, which will not be repeated here.

[0125] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A collaborative scheduling method for a chain-type tool magazine, characterized in that, The method includes: The tool request queues of multiple machine tools are acquired in real time, and several tool scheduling requirements are determined based on the tool request queues. Collect the physical location of the tool and historical tool working data, and generate a tool call queue based on the physical location of the tool and historical tool working data. The tool call queue represents the initial call order of several tools. A conflict decision network is established to determine scheduling conflict items based on several tool scheduling requirements, and conflict resolution is performed on the scheduling conflict items based on the conflict decision network, including: Based on the scheduling conflict item, obtain the conflicting operations of the corresponding tool magazine, compare the urgency of the conflicting operations in their respective operations, and classify the urgent operations and standby operations according to the urgency. The emergency process is assigned the highest priority scheduling level, interrupting the current non-emergency process's occupation of the conflicting tool and scheduling it to a standby position. The shortest movement path from the conflicting tool to the emergency process is calculated, and the conflicting tool is prioritized for scheduling based on the shortest movement path. Traverse the chain tool magazine, determine whether there is a replacement tool for the conflicting tool, and when there is a replacement tool, calculate the shortest path from 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, the standby time limit of the standby process is obtained according to the historical tool magazine call information, and a countdown detection window is set. The conflicting tool release information is detected cyclically based on the standby time limit, and the standby process is controlled according to the conflicting tool release information. The chain-type tool magazine is controlled collaboratively based on the tool call queue and conflict resolution strategy.

2. The collaborative scheduling method for a chain-type tool magazine according to claim 1, characterized in that, Comparing the urgency of the conflicting processes within their respective processes, including: Collect production economic data and obtain the unit time loss. Calculate the process delay cost of the conflicting processes based on the unit time loss, and select the first urgent process based on the process delay cost. According to the tool request queue, obtain the corresponding process logic node of the conflicting process, evaluate the impact of the process logic node on the subsequent process, and select the second urgent process according to the impact. Determine whether the first emergency process and the second emergency process are the same. If they are the same, then the emergency process is determined. If they are not the same, determine whether the subsequent process nodes of the process logic node are greater than a preset threshold. If they are greater, then the first emergency process is selected.

3. The collaborative scheduling method for a chain-type tool magazine according to claim 1, characterized in that, Calculating the shortest movement path from the conflicting tool to the emergency operation includes: Several basic movement paths are obtained based on historical tool scheduling information, and the theoretical movement time of each basic movement path is calculated and obtained based on the tool magazine movement speed. For each of the basic movement paths, tool obstacles on the basic movement paths are detected in real time, and conflict levels are classified and penalty factors are assigned based on the tool obstacles; For each of the basic movement paths, the theoretical movement time is weighted and corrected according to the penalty factor to obtain the corrected movement time. Several corrected movement times are compared, and the shortest movement path is obtained based on the comparison results.

4. The collaborative scheduling method for a chain-type tool magazine according to claim 3, characterized in that, The penalty factor is assigned based on the tool obstacle, including: Collect historical tool obstacle information, identify the obstacle types on the basic movement path based on the historical tool obstacle information, and assign initial risk factors based on the obstacle types; Obtain tool topology results, obtain tool obstacle location information based on the tool topology results, and obtain path location sensitivity of the obstacle location based on the tool obstacle location information. The path location sensitivity is positively correlated with the degree of influence of the obstacle location on the overall scheduling efficiency of the tool magazine. The initial risk factor is modified based on the path location sensitivity to obtain a penalty factor.

5. The collaborative scheduling method for a chain-type tool magazine according to claim 1, characterized in that, A tool call queue is generated based on the physical location of the tool and historical tool working data, including: Determine the machine tool and several target cutting tools, calculate the tool displacement distance between the machine tool and the target cutting tools respectively, and calculate and obtain the tool movement cost based on the tool displacement distance; The tool usage frequency and tool wear amount of each target tool are extracted based on the historical tool working data, and the tool efficiency is calculated based on the tool usage frequency and tool wear amount. The scheduling priority of the target tool is calculated based on the tool performance and tool movement cost, and the target tools are sorted according to the scheduling priority to obtain the tool call queue.

6. The collaborative scheduling method for a chain-type tool magazine according to claim 5, characterized in that, Sort the target tools according to the scheduling priority and obtain the tool call queue, including: A multidimensional disordered array is constructed based on the target tool, wherein each target tool corresponds to a scheduling priority, and the multidimensional disordered array is a binary tree structure. Based on the target tool in the last non-end dimension, a reverse traversal is performed, and the scheduling priority of each target tool is compared with the target tool associated with the end dimension in turn; If the scheduling priority of the target tool in the end dimension is higher than that of the target tool in the non-end dimension, then sequence adjustment is performed until the multidimensional unordered array becomes a multidimensional ordered array, and the tool call queue is obtained.

7. The collaborative scheduling method for a chain-type tool magazine according to claim 1, characterized in that, The chain-type tool magazine is controlled collaboratively based on the tool recall queue and conflict resolution strategy, including: Based on the tool call queue and conflict resolution strategy, the tool call order and alternative tools are extracted respectively, and the tool call order and alternative tools are integrated to generate the main scheduling path pre-replacement path; Determine if there is a scheduling conflict. If so, trigger the scheduling operation of the alternative tool according to the replacement path. If not, continue scheduling according to the main scheduling path.

8. A collaborative scheduling system for a chain-type tool magazine, characterized in that, The system includes: The tool request scheduling module acquires the tool request queues of multiple machine tools in real time and determines several tool scheduling requirements based on the tool request queues. The tool queue generation module collects the physical location of tools and historical tool working data, and generates a tool call queue based on the physical location of tools and historical tool working data. The tool call queue represents the initial calling order of several tools. The conflict resolution decision module establishes a conflict decision network, determines scheduling conflict items based on several tool scheduling requirements, and resolves the scheduling conflict items based on the conflict decision network, including: Based on the scheduling conflict item, obtain the conflicting operations of the corresponding tool magazine, compare the urgency of the conflicting operations in their respective operations, and classify the urgent operations and standby operations according to the urgency. The emergency process is assigned the highest priority scheduling level, interrupting the current non-emergency process's occupation of the conflicting tool and scheduling it to a standby position. The shortest movement path from the conflicting tool to the emergency process is calculated, and the conflicting tool is prioritized for scheduling based on the shortest movement path. Traverse the chain tool magazine, determine whether there is a replacement tool for the conflicting tool, and when there is a replacement tool, calculate the shortest path from 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, the standby time limit of the standby process is obtained according to the historical tool magazine call information, and a countdown detection window is set. The conflicting tool release information is detected cyclically based on the standby time limit, and the standby process is controlled according to the conflicting tool release information. The collaborative tool magazine control module performs collaborative control of the chain tool magazine based on the tool call queue and conflict resolution strategy.

9. The collaborative scheduling system for a chain-type tool magazine according to claim 8, characterized in that, The tool queue generation module includes: The tool displacement calculation unit determines the machining tool and several target tools, calculates the tool displacement distance between the machining tool and the target tools respectively, and calculates and obtains the tool movement cost based on the tool displacement distance; The tool performance evaluation unit extracts the tool usage frequency and tool wear amount of each target tool based on the historical tool working data, and calculates the tool performance based on the tool usage frequency and tool wear amount. The tool priority sorting unit calculates the scheduling priority of the target tool based on the tool efficiency and tool movement cost, sorts the target tools according to the scheduling priority, and obtains the tool call queue.

Images