Cooperative control method and system for feeding and discharging units

Abstract

The invention provides a cooperative control method for feeding and discharging units, and the method comprises the steps: obtaining a preliminary task distribution strategy related to all feeding and discharging units in a designated production line, and transmitting the preliminary task distribution strategy to each feeding and discharging unit; when each loading and unloading unit executes the loading and unloading task, the weight, the speed and the current position of an executed material are obtained, and the priority of the executed material is calculated in combination with the target position of the executed material and the current load condition of the designated production line; calculating the task execution time of the executed materials according to the speed of the executed materials, the current position and the target position, and obtaining a conflict coefficient between every two executed materials in combination with the minimum safety distance and the minimum time interval so as to update the priorities of the executed materials; and according to the updated priorities, performing optimization control on execution materials corresponding to the loading and unloading units. By implementing the method, the problems of low efficiency, resource waste, obvious equipment conflict and the like when loading and unloading tasks are executed can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly lines, and in particular to a collaborative control method and system for loading and unloading units. Background Art

[0002] In modern automated production lines, the coordinated control of loading and unloading units is crucial for ensuring production efficiency and stability. However, as the level of automation in production lines increases, the demands for task scheduling and resource allocation become more complex.

[0003] At present, traditional collaborative control methods for loading and unloading units are usually based on static task allocation strategies, which cannot effectively respond to the ever-changing task requirements and equipment status in the production line environment. It can be seen that the above traditional collaborative control methods for loading and unloading units rely too much on simple rules or preset task priorities, ignoring the dynamic factors that may appear during the task execution process (such as the real-time location of the material, the urgency of the task, and the production line load, etc.), resulting in inefficient operation of the production line, waste of resources and excessive load of equipment, which makes the loading and unloading units inefficient, waste of resources, and obvious equipment conflicts when performing loading and unloading tasks.

[0004] Therefore, there is an urgent need for a new collaborative control method for loading and unloading units that can solve problems such as low efficiency, waste of resources, and obvious equipment conflicts when performing loading and unloading tasks. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a collaborative control method and system for loading and unloading units, which can solve the problems of low efficiency, waste of resources, obvious equipment conflicts, etc. when performing loading and unloading tasks.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a collaborative control method for loading and unloading units, the method comprising the following steps:

[0007] Obtain a preliminary task allocation strategy for all loading and unloading units in a specified production line and distribute it to each loading and unloading unit; wherein the preliminary task allocation strategy includes the materials involved and their target locations when each loading and unloading unit needs to perform the loading and unloading tasks;

[0008] When each loading and unloading unit executes the loading and unloading task assigned in the preliminary task allocation strategy, the weight, speed and current location of the material executed by each loading and unloading unit are obtained, and the priority of the material executed by each loading and unloading unit is calculated based on the target location of the material executed by each loading and unloading unit in the preliminary task allocation strategy and the current load status of the designated production line;

[0009] Based on the speed, current location, and target location of the materials being handled by each loading and unloading unit, the task execution time for the materials being handled by each loading and unloading unit is calculated. Combined with the preset minimum safety distance and minimum time interval between materials, the conflict coefficient between each material being handled by each loading and unloading unit is obtained. Furthermore, based on the obtained conflict coefficient between each material being handled by each loading and unloading unit, the priority of the materials being handled by each loading and unloading unit is updated.

[0010] According to the updated priority, the corresponding materials of each loading and unloading unit are optimized and controlled.

[0011] Among them, through the formula Calculate the priority of each loading and unloading unit corresponding to the material to be executed; among them,

[0012] P i (t) is the priority of the current loading and unloading unit corresponding to the material i at time t; t i The time for the material i executed by the current loading and unloading unit to reach the target position on the specified production line is determined by the speed of the material i executed by the current loading and unloading unit, the current position x i and target position y i Calculated; W i is the weight of material i executed by the current loading and unloading unit; distance(x i ,y i ) is the current location x of the material j in the current loading and unloading unit i and the target position y i The spatial distance between them; load(t) is the current load status of the specified production line, which is obtained by measuring the load of the equipment or the length of the task queue; α, β, γ, δ are all preset weight coefficients, and are all constants between [0, 1]; δ1, δ2, δ3 are all nonlinear exponents, and are all constants between [0, 2].

[0013] Among them, through the formula Calculate the conflict coefficient between the materials executed by each loading and unloading unit;

[0014] ΔC ij (t) is the conflict coefficient between material i and material j executed by the two loading and unloading units respectively, which is used to determine whether there is a conflict between material i and material j; t i ,t j x is the task execution time of material i and material j for the corresponding loading and unloading units, both of which are calculated based on their respective speeds, current positions, and target positions; i ,x jExecute the current location of material i and material j for the corresponding loading and unloading units respectively; Execute the preset minimum safety distance between material i and material j for the corresponding loading and unloading unit; The preset minimum time interval between material i and material j is executed for the corresponding loading and unloading unit.

[0015] Among them, through the formula Get the priority of each loading and unloading unit after executing the material update; Among them,

[0016] is the priority of the material i executed by the current loading and unloading unit after update at time t; λ1 is the weight coefficient of feedback adjustment, which is a constant; ΔP i (t) is the priority adjustment step caused by the change in task status of material i at time t in the current loading and unloading unit, which is a constant; λ2 is the weight coefficient of conflict adjustment, which is a constant; ∑ j≠i ΔC ij (t) is the conflict change between material i and material j executed by the corresponding loading and unloading unit at time t.

[0017] The preliminary task allocation strategy is formulated based on the materials and related data that need to be executed by each loading and unloading unit in the designated production line, and is combined with the operating status of the designated production line and its predetermined initial task requirements.

[0018] Among them, the material-related data is first processed by denoising, cleaning, normalization and dimensioning, then processed by weighted fusion, and finally corrected using a preset dynamic data consistency correction algorithm.

[0019] Among them, the dynamic data consistency correction algorithm is implemented by formula To achieve; among them,

[0020] is the revised material related data; i (k) is the material-related data after weighted fusion processing; α is the adjustment parameter, which is a constant; is the historical estimated value of the relevant data of the i-th material at time step k, which is estimated based on the historical material data; std(·) is the calculation function of the standard deviation.

[0021] The embodiment of the present invention further provides a collaborative control system for loading and unloading units, including:

[0022] A preliminary task allocation strategy acquisition unit is used to obtain the preliminary task allocation strategy involving all loading and unloading units in a specified production line and issue it to each loading and unloading unit; wherein the preliminary task allocation strategy includes the materials involved and their target locations when each loading and unloading unit needs to perform the loading and unloading task;

[0023] a material priority calculation unit for obtaining, when each loading and unloading unit executes the loading and unloading task assigned in the preliminary task allocation strategy, the weight, speed, and current location of the material executed by each loading and unloading unit, and calculating the priority of the material executed by each loading and unloading unit in combination with the target location of the material executed by each loading and unloading unit in the preliminary task allocation strategy and the current load condition of the designated production line;

[0024] The material priority updating unit is used to calculate the task execution time of each loading and unloading unit according to the speed, current position and target position of the material executed by each loading and unloading unit, and to obtain the conflict coefficient between each material executed by each loading and unloading unit in combination with the preset minimum safety distance and minimum time interval between materials. The priority of each material executed by each loading and unloading unit is further updated according to the obtained conflict coefficient between each material executed by each loading and unloading unit;

[0025] The task collaborative control optimization unit is used to optimize the control of the corresponding execution materials of each loading and unloading unit according to the updated priority.

[0026] Among them, through the formula Calculate the priority of each loading and unloading unit corresponding to the material to be executed; among them,

[0027] P i (t) is the priority of the current loading and unloading unit corresponding to the material i at time t; t i The time for the material i executed by the current loading and unloading unit to reach the target position on the specified production line is determined by the speed of the material i executed by the current loading and unloading unit, the current position x i and target position y i Calculated; W i is the weight of material i executed by the current loading and unloading unit; distance(x i ,y i ) is the current location x of the material i in the current loading and unloading unit i and the target position y iThe spatial distance between them; load(t) is the current load status of the specified production line, which is obtained by measuring the load of the equipment or the length of the task queue; α, β, γ, δ are all preset weight coefficients, and are all constants between [0, 1]; δ1, δ2, δ3 are all nonlinear exponents, and are all constants between [0, 2].

[0028] Among them, through the formula Calculate the conflict coefficient between the materials executed by each loading and unloading unit;

[0029] ΔC ij (t) is the conflict coefficient between material i and material j executed by the two loading and unloading units respectively, which is used to determine whether there is a conflict between material i and material j; t i ,x j x is the task execution time of material i and material j for the corresponding loading and unloading units, both of which are calculated based on their respective speeds, current positions, and target positions; i ,t j Execute the current location of material i and material j for the corresponding loading and unloading units respectively; Execute the preset minimum safety distance between material i and material j for the corresponding loading and unloading unit; Execute the preset minimum time interval between material i and material j for the corresponding loading and unloading unit;

[0030] By formula Get the priority of each loading and unloading unit after executing the material update; Among them,

[0031] is the priority of the material i executed by the current loading and unloading unit after update at time t; λ1 is the weight coefficient of feedback adjustment, which is a constant; ΔP i (t) is the priority adjustment step caused by the change in task status of material i at time t in the current loading and unloading unit, which is a constant; λ2 is the weight coefficient of conflict adjustment, which is a constant; Σ j≠i ΔC ij (t) is the conflict change between material i and material j executed by the corresponding loading and unloading unit at time t.

[0032] The implementation of the embodiments of the present invention has the following beneficial effects:

[0033] 1. In executing the loading and unloading tasks assigned in the preliminary task allocation strategy, the present invention calculates the priority of each loading and unloading unit for executing the corresponding material based on the dynamic change factors of the material (such as the weight, speed, current location and target location of the material, etc.) and the current load status of the production line. Furthermore, combined with priority scheduling, it ensures that the tasks can be allocated to the appropriate loading and unloading units in an efficient and accurate manner, thereby optimizing the efficiency of the collaborative operation of the production line, thereby solving the problems of low efficiency and waste of resources when executing loading and unloading tasks;

[0034] 2. The present invention adopts a multi-dimensional conflict detection and avoidance mechanism, comprehensively considering factors such as the spatial position, movement speed and task time of the material, and dynamically adjusts the priority of each loading and unloading unit to execute the corresponding material, thereby effectively avoiding conflicts between devices, solving the problem of obvious equipment conflicts when executing loading and unloading tasks, and improving stability;

[0035] 3. The material-related data selected by the preliminary task allocation strategy in the present invention are processed through weighted fusion and dynamic data consistency correction algorithm, which not only improves the accuracy and reliability of the fused material-related data, but also improves the quality of subsequent task scheduling, effectively solves the problem of inconsistent or large errors in multi-sensor data, and ensures the stability and consistency of the data. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying any creative work, other drawings obtained based on these drawings still fall within the scope of the present invention.

[0037] Figure 1 A flowchart of a collaborative control method for loading and unloading units provided in an embodiment of the present invention;

[0038] Figure 2 A schematic structural diagram of a collaborative control system for loading and unloading units provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings.

[0040] like Figure 1 FIG. 1 is a collaborative control method for loading and unloading units provided in an embodiment of the present invention, and the method includes the following steps:

[0041] Step S1: Obtain a preliminary task allocation strategy for all loading and unloading units in a specified production line and issue it to each loading and unloading unit; wherein the preliminary task allocation strategy includes the materials involved and their target locations when each loading and unloading unit needs to perform the loading and unloading tasks;

[0042] The specific process is as follows: First, based on the materials and related data that need to be executed by each loading and unloading unit in the specified production line, combined with the operating status of the specified production line and its predetermined initial task requirements, a preliminary task allocation strategy is formulated, as follows:

[0043] The first step is to use sensors such as visual sensors, laser sensors, pressure sensors, position sensors, etc. to collect material-related data that needs to be executed by each loading and unloading unit in the specified production line in real time, including the current location, weight, speed, etc. of the material.

[0044] In the second step, the material-related data is first denoised, cleaned, normalized and dimensioned, then processed by weighted fusion, and finally corrected using the preset dynamic data consistency correction algorithm.

[0045] Weights are assigned based on sensor reliability and measurement accuracy. For example, if a sensor is prone to errors under certain conditions (such as varying lighting or material surface reflections), its weight will be lower, while other, more reliable sensors will be given higher weights. This approach prioritizes more reliable and accurate measurements (i.e., material-related data that has undergone denoising, cleaning, normalization, and dimensioning), thereby improving the quality of the fused data.

[0046] The weighted material-related data mentioned above are fused using existing intelligent algorithms (such as Kalman filtering, particle filtering, etc.). The weighted material data fusion process can be continuously adjusted according to the dynamic changes of the sensor to obtain weighted fused material-related data.

[0047] The dynamic data consistency repair algorithm is based on the trend analysis of historical data and the real-time correction of current data. By introducing a data consistency correction factor, it performs consistency correction on each weighted fused material-related data, thereby enhancing the coordination between data.

[0048] Among them, the dynamic data consistency correction algorithm is implemented by formula To achieve; among them, is the revised material related data; i (k) is the material-related data after weighted fusion processing; α is the adjustment parameter, which is a constant; is the historical estimated value of the relevant data of the i-th material at time step k, which is estimated based on the historical material data; std(·) is the calculation function of the standard deviation.

[0049] In the third step, based on the material-related data processed and corrected in the second step, and in combination with the operating status and task requirements of the specified production line, a preliminary task allocation strategy is developed using an existing priority-based greedy algorithm. This preliminary task allocation strategy includes the loading and unloading tasks to be performed by each loading and unloading unit, as well as the materials involved in the tasks and their target locations.

[0050] It should be noted that the objective function is constructed based on the task requirements of the production line, and the initial production line operation status and material-related data are combined to find the optimal solution through the genetic algorithm to formulate a preliminary task allocation strategy. All of these are achieved through conventional technical means in this field and will not be described in detail here.

[0051] Secondly, according to the preliminary task allocation strategy, the loading and unloading tasks to be performed by each loading and unloading unit, the materials involved and their target locations are issued accordingly.

[0052] Step S2: When each loading and unloading unit executes the loading and unloading task assigned in the preliminary task allocation strategy, the weight, speed, and current location of the material executed by each loading and unloading unit are obtained, and the priority of the material executed by each loading and unloading unit is calculated based on the target location of the material executed by each loading and unloading unit in the preliminary task allocation strategy and the current load status of the designated production line;

[0053] The specific process is to obtain the real-time status of the material (including weight, speed and current location) as feedback information when executing the preliminary task allocation strategy, and combine it with the current load condition of the production line. By introducing a nonlinear priority calculation formula, the priority of the material executed by each loading and unloading unit is calculated, making the scheduling more flexible and dynamic, and able to adapt to the complex needs under different production scenarios.

[0054] At this time, through the formula Calculate the priority of each loading and unloading unit corresponding to the material to be executed; among them,

[0055] P i (t) is the priority of the material i executed by the current loading and unloading unit at time t, which is used to determine the urgency of the processing in the production process. The higher the priority, the more urgent the material task; t i The time it takes for the material i to reach the target position on the specified production line, which is determined by the speed of the material i and the current position x of the loading and unloading unit. i and target position y i Calculated; W i is the weight of material i executed by the current loading and unloading unit; distance(xi ,y i ) is the current location x of the material i in the current loading and unloading unit i and the target position y i The spatial distance between them is used to indicate the distance of the material from the target location to the target location. It is calculated by calculating the current location x of the material i. i and the target position y i ; load(t) is the current load condition of the specified production line, which is obtained by measuring the load of the equipment or the length of the task queue, and is used to reflect the workload of the specified production line, including the load of the equipment, the arrangement of tasks, etc., wherein the workload of all equipment is calculated according to the real-time status of the specified production line; α, β, γ, δ are all preset weight coefficients and are all constants between [0, 1], wherein each weight coefficient is used to adjust the influence of the corresponding factors (such as arrival time, weight, distance and load) on the priority, and the value can be adjusted according to the expert experience method; δ1, δ2, δ3 are all nonlinear exponents and are all constants between [0, 2], which are used to adjust the weights of the influencing factors so that their influence on the priority is not linear, but nonlinearly adjusted according to different production needs, and the value is determined according to the expert experience method.

[0056] Step S3: Calculate the task execution time of each loading and unloading unit based on the speed, current location, and target location of the material being executed by each loading and unloading unit, and combine the preset minimum safety distance and minimum time interval between the materials to obtain the conflict coefficient between each loading and unloading unit and further update the priority of the materials being executed by each loading and unloading unit based on the obtained conflict coefficient between each loading and unloading unit;

[0057] The specific process is as follows: First, after the priority calculation in step S2 is completed, it is necessary to monitor conflicts between loading and unloading units. To avoid conflicts between multiple loading and unloading units that could cause equipment damage or production stagnation, a multi-dimensional conflict detection and avoidance mechanism is introduced. This mechanism comprehensively considers factors such as material location, speed, and task time to determine whether a conflict exists.

[0058] Among them, through the formula Calculate the conflict coefficient between the materials executed by each loading and unloading unit;

[0059] ΔC ij (t) is the conflict coefficient between material i and material j executed by the two loading and unloading units respectively, which is used to determine whether there is a conflict between material i and material j; t i ,t jx is the task execution time of material i and material j for the corresponding loading and unloading units, both of which are calculated based on their respective speeds, current positions, and target positions; i ,x j Execute the current location of material i and material j for the corresponding loading and unloading units respectively; The preset minimum safety distance between material i and material j is executed for the corresponding loading and unloading unit. It is used to indicate the minimum distance that should be maintained between the two materials during the production process to prevent collision or interference. It is determined by the design standards of the production line and the safety requirements of the equipment. It can be adjusted according to the operating speed of the equipment and the characteristics of the materials (such as volume and weight). For example, the value range is a few centimeters to a few meters, depending on the specific requirements of the production line and the type of materials. The preset minimum time interval between the execution of material i and material j by the corresponding loading and unloading units is used to indicate the minimum time difference that must be maintained between tasks to avoid conflicts or interference caused by too dense tasks. It is determined by the task execution cycle or the scheduling strategy of the production line. For example, it is set according to the load capacity of the equipment and the time required for the task. The value range is from a few seconds to a few minutes, depending on the speed of the production line and the material processing time.

[0060] Secondly, based on the above conflict detection results, the priority is updated. The specific formula is as follows:

[0061]

[0062] in, is the priority of the material i executed by the current loading and unloading unit after update at time t; λ1 is the weight coefficient of feedback adjustment and is a constant. It is used to control the contribution of priority adjustment to the final priority calculation. It is determined according to expert experience and has a value range of [0.1, 1]; ΔP i (t) is the priority adjustment step caused by the change of the task status of the material i at time t in the current loading and unloading unit, and it is a constant. It may change as the material execution progresses. This change will lead to the adjustment of the priority. It is set according to the demand and the value range is [-10,10]. λ2 is the weight coefficient of the conflict adjustment and it is a constant, which is used to control ∑ i≠i ΔC ij (t) The impact on task priority update determines the degree of influence of conflict detection on task priority update, which is determined by expert experience and has a value range of [0.1, 0.5]; j≠i ΔC ij (t) is the conflict change between material i and material j executed by the corresponding loading and unloading unit at time t.

[0063] Step S4: Optimize and control the materials executed by each loading and unloading unit according to the updated priority.

[0064] The specific process is to use the existing priority scheduling algorithm to allocate tasks through the priority after dynamic optimization mentioned above, and allocate the dynamically optimized tasks to each loading and unloading unit, so that the corresponding execution materials of each loading and unloading unit are optimized and controlled, so as to achieve the optimal collaborative control effect between the loading and unloading units.

[0065] like Figure 2 As shown, a collaborative control system for loading and unloading units provided by an embodiment of the present invention includes:

[0066] The preliminary task allocation strategy acquisition unit 110 is used to acquire the preliminary task allocation strategy involving all loading and unloading units in a specified production line and issue it to each loading and unloading unit; wherein the preliminary task allocation strategy includes the materials involved and their target locations when each loading and unloading unit needs to perform the loading and unloading tasks;

[0067] The material priority calculation unit 120 is used to obtain the weight, speed and current location of the material executed by each loading and unloading unit when each loading and unloading unit executes the loading and unloading task assigned in the preliminary task allocation strategy, and calculate the priority of the material executed by each loading and unloading unit in combination with the target location of the material executed by each loading and unloading unit in the preliminary task allocation strategy and the current load status of the designated production line;

[0068] The material priority updating unit 130 is used to calculate the task execution time of each loading and unloading unit based on the speed, current location and target location of the material being executed by each loading and unloading unit, and to obtain the conflict coefficient between each pair of materials being executed by each loading and unloading unit in combination with the preset minimum safety distance and minimum time interval between materials. The priority of each loading and unloading unit for executing the material is further updated based on the obtained conflict coefficient between each pair of materials being executed by each loading and unloading unit.

[0069] The task collaborative control optimization unit 140 is used to optimize the execution of materials corresponding to each loading and unloading unit according to the updated priority.

[0070] Among them, through the formula Calculate the priority of each loading and unloading unit corresponding to the material to be executed; among them,

[0071] P i (t) is the priority of the current loading and unloading unit corresponding to the material i at time t; t iThe time for the material i executed by the current loading and unloading unit to reach the target position on the specified production line is determined by the speed of the material i executed by the current loading and unloading unit, the current position x i and target position y i Calculated; W i is the weight of material i executed by the current loading and unloading unit; distance(x i ,y i ) is the current location x of the material i in the current loading and unloading unit i and the target position y i The spatial distance between them; load(t) is the current load status of the specified production line, which is obtained by measuring the load of the equipment or the length of the task queue; α, β, γ, δ are all preset weight coefficients, and are all constants between [0, 1]; δ1, δ2, δ3 are all nonlinear exponents, and are all constants between [0, 2].

[0072] Among them, through the formula Calculate the conflict coefficient between the materials executed by each loading and unloading unit;

[0073] ΔC ij (t) is the conflict coefficient between material i and material j executed by the two loading and unloading units respectively, which is used to determine whether there is a conflict between material i and material j; t i ,t j x is the task execution time of material i and material j for the corresponding loading and unloading units, both of which are calculated based on their respective speeds, current positions, and target positions; i ,x j Execute the current location of material i and material j for the corresponding loading and unloading units respectively; Execute the preset minimum safety distance between material i and material j for the corresponding loading and unloading unit; Execute the preset minimum time interval between material i and material j for the corresponding loading and unloading unit;

[0074] By formula Get the priority of each loading and unloading unit after executing the material update; Among them,

[0075] is the priority of the material i executed by the current loading and unloading unit after update at time t; λ1 is the weight coefficient of feedback adjustment, which is a constant; ΔP i (t) is the priority adjustment step caused by the change in task status of material i at time t in the current loading and unloading unit, which is a constant; λ2 is the weight coefficient of conflict adjustment, which is a constant; Σ j≠i ΔC ij(t) is the conflict change between material i and material j executed by the corresponding loading and unloading unit at time t.

[0076] The implementation of the embodiments of the present invention has the following beneficial effects:

[0077] 1. In executing the loading and unloading tasks assigned in the preliminary task allocation strategy, the present invention calculates the priority of each loading and unloading unit for executing the corresponding material based on the dynamic change factors of the material (such as the weight, speed, current location and target location of the material, etc.) and the current load status of the production line. Furthermore, combined with priority scheduling, it ensures that the tasks can be allocated to the appropriate loading and unloading units in an efficient and accurate manner, thereby optimizing the efficiency of the collaborative operation of the production line, thereby solving the problems of low efficiency and waste of resources when executing loading and unloading tasks;

[0078] 2. The present invention adopts a multi-dimensional conflict detection and avoidance mechanism, comprehensively considering factors such as the spatial position, movement speed and task time of the material, and dynamically adjusts the priority of each loading and unloading unit to execute the corresponding material, thereby effectively avoiding conflicts between devices, solving the problem of obvious equipment conflicts when executing loading and unloading tasks, and improving stability;

[0079] 3. The material-related data selected by the preliminary task allocation strategy in the present invention are processed through weighted fusion and dynamic data consistency correction algorithm, which not only improves the accuracy and reliability of the fused material-related data, but also improves the quality of subsequent task scheduling, effectively solves the problem of inconsistent or large errors in multi-sensor data, and ensures the stability and consistency of the data.

[0080] It is worth noting that in the above system embodiment, the various system modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the various functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0081] Those skilled in the art will understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc.

[0082] The above disclosure is merely a preferred embodiment of the present invention and certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A collaborative control method for loading and unloading units, characterized in that: The method comprises the following steps: Obtain a preliminary task allocation strategy for all loading and unloading units in a specified production line and distribute it to each loading and unloading unit; wherein the preliminary task allocation strategy includes the materials involved and their target locations when each loading and unloading unit needs to perform the loading and unloading tasks; When each loading and unloading unit executes the loading and unloading task assigned in the preliminary task allocation strategy, the weight, speed and current location of the material executed by each loading and unloading unit are obtained, and the priority of the material executed by each loading and unloading unit is calculated based on the target location of the material executed by each loading and unloading unit in the preliminary task allocation strategy and the current load status of the designated production line; Based on the speed, current location, and target location of the materials being handled by each loading and unloading unit, the task execution time for the materials being handled by each loading and unloading unit is calculated. Combined with the preset minimum safety distance and minimum time interval between materials, the conflict coefficient between each material being handled by each loading and unloading unit is obtained. Furthermore, based on the obtained conflict coefficient between each material being handled by each loading and unloading unit, the priority of the materials being handled by each loading and unloading unit is updated. According to the updated priority, the corresponding materials of each loading and unloading unit are optimized and controlled.

2. The collaborative control method of loading and unloading units according to claim 1, characterized in that: By formula Calculate the priority of each loading and unloading unit corresponding to the material to be executed; among them, P i (t) is the priority of the current loading and unloading unit corresponding to the material i at time t; t i The time for the material i executed by the current loading and unloading unit to reach the target position on the specified production line is determined by the speed of the material i executed by the current loading and unloading unit, the current position x i and target position y i Calculated; W i is the weight of material i executed by the current loading and unloading unit; distance(x i ,y i ) is the current location x of the material j in the current loading and unloading unit i and the target position y i The spatial distance between them; load(t) is the current load status of the specified production line, which is obtained by measuring the load of the equipment or the length of the task queue; α, β, γ, δ are all preset weight coefficients, and are all constants between [0, 1]; δ1, δ2, δ3 are all nonlinear exponents, and are all constants between [0, 2].

3. The collaborative control method of loading and unloading units according to claim 1, characterized in that: By formula Calculate the conflict coefficient between the materials executed by each loading and unloading unit; ΔC ij (t) is the conflict coefficient between material i and material j executed by the two loading and unloading units respectively, which is used to determine whether there is a conflict between material i and material j; t i ,t j x is the task execution time of material i and material j for the corresponding loading and unloading units, both of which are calculated based on their respective speeds, current positions, and target positions; i ,x j Execute the current location of material i and material j for the corresponding loading and unloading units respectively; Execute the preset minimum safety distance between material i and material j for the corresponding loading and unloading unit; The preset minimum time interval between material i and material j is executed for the corresponding loading and unloading unit.

4. The collaborative control method of loading and unloading units according to claim 3, characterized in that: By formula Get the priority of each loading and unloading unit after executing the material update; Among them, is the priority of the material i executed by the current loading and unloading unit after update at time t; λ1 is the weight coefficient of feedback adjustment, which is a constant; ΔP i (t) is the priority adjustment step caused by the change in task status of material i at time t in the current loading and unloading unit, which is a constant; λ2 is the weight coefficient of conflict adjustment, which is a constant; ∑ j≠i ΔC ij (t) is the conflict change between material i and material j executed by the corresponding loading and unloading unit at time t.

5. The collaborative control method of loading and unloading units according to claim 1, characterized in that: The preliminary task allocation strategy is formulated based on the materials and related data that need to be executed by each loading and unloading unit in the designated production line, and is combined with the operating status of the designated production line and its predetermined initial task requirements.

6. The collaborative control method of loading and unloading units according to claim 5, characterized in that: The material-related data is first processed by denoising, cleaning, normalization and dimensioning, then processed by weighted fusion, and finally corrected using a preset dynamic data consistency correction algorithm.

7. The coordinated control method of loading and unloading units according to claim 6, characterized in that: The dynamic data consistency correction algorithm is implemented by the formula To achieve; among them, is the revised material related data; i (k) is the material-related data after weighted fusion processing; α is the adjustment parameter, which is a constant; is the historical estimated value of the relevant data of the i-th material at time step k, which is estimated based on the historical material data; std(·) is the calculation function of the standard deviation.

8. A collaborative control system for loading and unloading units, characterized in that: include: A preliminary task allocation strategy acquisition unit is used to obtain the preliminary task allocation strategy involving all loading and unloading units in a specified production line and issue it to each loading and unloading unit; wherein the preliminary task allocation strategy includes the materials involved and their target locations when each loading and unloading unit needs to perform the loading and unloading task; a material priority calculation unit for obtaining, when each loading and unloading unit executes the loading and unloading task assigned in the preliminary task allocation strategy, the weight, speed, and current location of the material executed by each loading and unloading unit, and calculating the priority of the material executed by each loading and unloading unit in combination with the target location of the material executed by each loading and unloading unit in the preliminary task allocation strategy and the current load condition of the designated production line; The material priority updating unit is used to calculate the task execution time of each loading and unloading unit according to the speed, current position and target position of the material executed by each loading and unloading unit, and to obtain the conflict coefficient between each material executed by each loading and unloading unit in combination with the preset minimum safety distance and minimum time interval between materials. The priority of each material executed by each loading and unloading unit is further updated according to the obtained conflict coefficient between each material executed by each loading and unloading unit; The task collaborative control optimization unit is used to optimize the control of the corresponding execution materials of each loading and unloading unit according to the updated priority.

9. The coordinated control system of the loading and unloading unit according to claim 8, characterized in that: By formula Calculate the priority of each loading and unloading unit corresponding to the material to be executed; among them, P i (t) is the priority of the current loading and unloading unit corresponding to the material i at time t; t i The time for the material i executed by the current loading and unloading unit to reach the target position on the specified production line is determined by the speed of the material i executed by the current loading and unloading unit, the current position x i and target position y i Calculated; W i is the weight of material i executed by the current loading and unloading unit; distance(x i ,y i ) is the current location x of the material i in the current loading and unloading unit i and the target position y i The spatial distance between them; load(t) is the current load status of the specified production line, which is obtained by measuring the load of the equipment or the length of the task queue; α, β, γ, δ are all preset weight coefficients, and are all constants between [0, 1]; δ1, δ2, δ3 are all nonlinear exponents, and are all constants between [0, 2].

10. The coordinated control system of loading and unloading units according to claim 8, characterized in that: By formula Calculate the conflict coefficient between the materials executed by each loading and unloading unit; ΔC ij (t) is the conflict coefficient between material i and material j executed by the two loading and unloading units respectively, which is used to determine whether there is a conflict between material i and material j; t i ,t j x is the task execution time of material i and material j for the corresponding loading and unloading units, both of which are calculated based on their respective speeds, current positions, and target positions; i ,x j Execute the current location of material i and material j for the corresponding loading and unloading units respectively; Execute the preset minimum safety distance between material i and material j for the corresponding loading and unloading unit; Execute the preset minimum time interval between material i and material j for the corresponding loading and unloading unit; By formula Get the priority of each loading and unloading unit after executing the material update; Among them, is the priority of the material i executed by the current loading and unloading unit after update at time t; λ1 is the weight coefficient of feedback adjustment, which is a constant; ΔP i (t) is the priority adjustment step caused by the change in task status of material i at time t in the current loading and unloading unit, which is a constant; λ2 is the weight coefficient of conflict adjustment, which is a constant; ∑ j≠i ΔC ij (t) is the conflict change between material i and material j executed by the corresponding loading and unloading unit at time t.

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