Cable protection tube sample control detection whole-process flexible scheduling method and cable protection tube sample control detection whole-process flexible scheduling system

Abstract

The invention belongs to the technical field of pipe fitting detection, and particularly relates to a whole-process flexible scheduling method and system for cable protection pipe sample detection, and the method comprises the steps: planning and designing process steps, generating an initial task flow, dynamically generating an optimal scheduling scheme, and generating a control instruction. The step of dynamically generating the optimal scheduling scheme comprises flow step priority scoring and task scheme dynamic adjustment, fitness scoring is carried out by defining a fitness function, and two task positions are randomly selected according to the fitness score to exchange task numbers for iteration. State data of the detection stations can be collected in real time, the weight of each process step is dynamically calculated by adopting a multi-dimensional priority evaluation algorithm, a detection task scheduling scheme is dynamically generated, a mechanical arm and the stations are controlled to cooperatively carry out detection operation, rapid sample transfer and multi-station cooperative detection are realized, the task throughput is greatly improved, and the detection efficiency is improved. And the whole detection period is shortened by 40-60%.

Description

Technical Field

[0001] This invention belongs to the field of pipe fitting testing technology, specifically relating to a flexible scheduling method and system for the entire process of cable protection pipe sampling testing. Background Technology

[0002] Power cables are critical channels for transmitting urban electricity, and cable protection pipes are important physical barriers protecting power cables from external damage. Conducting quality inspections on cable protection pipes is a crucial measure to ensure the safe operation of cables.

[0003] Cable protection pipe testing requires initial processing into tubular and sheet samples. Traditionally, tubular sample preparation involves 2-3 operators manually operating a cutting machine. Sheet sample preparation involves multiple steps such as milling, grinding, and cutting, often performed manually by staff. This process is slow, labor-intensive, and carries significant safety risks. The resulting samples frequently exhibit dimensional errors due to manual positioning, directly impacting subsequent testing. After sample preparation, testing personnel must move the samples between various individual testing stations, relying on manual data recording. This results in low overall efficiency and inadequate risk management. Traditional manual methods cannot meet the demands of digital transformation in modern testing services. Summary of the Invention

[0004] The purpose of this invention is to address the deficiencies and shortcomings in the existing technology and provide a flexible scheduling method and system for the entire process of cable protection pipe sample preparation and testing. This system can achieve intelligent scheduling, efficient allocation, and fully automated testing of sample preparation and testing tasks, thereby improving the efficiency of cable protection pipe sample preparation and testing and ensuring the effectiveness of cable protection pipe sample preparation and testing.

[0005] To achieve the above objectives, the technical solution adopted by this invention is: a flexible scheduling method for the entire process of cable protection pipe sampling and testing, comprising the following steps:

[0006] S1. Process Step Planning and Design: Based on the inherent characteristics of multiple test items for cable protection pipes, and from the perspective of balancing test integrity and step universality, each test item is subdivided into multiple test step sub-items to form a process step library.

[0007] S2. Generate initial task flow: Select the corresponding test steps from the process step library according to the type of each received detection task, and automatically generate the initial task flow;

[0008] S3. Dynamically generate the optimal scheduling scheme: During the test, the status data of the detection station is collected in real time by the sensor and abnormal events are detected in real time. Based on this, a multi-dimensional priority evaluation algorithm is used to dynamically calculate the weight of each process step and dynamically generate a detection task scheduling scheme.

[0009] S4. Generate control instructions: Generate control instructions according to the scheduling plan, and control the robotic arm to distribute the test samples to independent or associated test stations in parallel to ensure that the test tasks are executed in a coordinated manner.

[0010] Preferably, the test items for the cable protection pipe in step S1 include appearance, size, ring stiffness, flattening, drop hammer impact, longitudinal shrinkage rate, density, and Vicat softening temperature.

[0011] Preferably, the step S3 of dynamically generating the optimal scheduling scheme includes the following steps:

[0012] S31. Process Step Priority Scoring: An initial priority score is assigned to each process step using the priority scoring formula of a multi-dimensional priority evaluation model. The priority scoring formula is as follows:

[0013] P = ω1·U + ω2·R + ω3·T

[0014] Where (ω1, ω2, ω3) are pre-set weight values, such as ω1 = 0.4; ω2 = 0.3; ω3 = 0.3; U represents the urgency level, R represents the resource scarcity, and T represents the detection cycle constraint;

[0015] S32. Dynamic Adjustment of Task Scheme: m task sorting schemes are randomly generated, where m is the task number, flexibly set according to the number and complexity of tasks; considering task completion time, resource utilization, and task urgency, the fitness function is defined as the weighted sum of the above three indicators:

[0016]

[0017] Among them, t i For step q i The detection cycle, r i For step q i The resource demand, R total U represents the total resource quantity. i For step q i The urgency level of the task is denoted by n, where n is the number of subtasks, and α and β are weighting coefficients.

[0018] Preferably, in step S32, fitness is scored according to the defined fitness function, and two task positions are randomly selected based on the fitness score to exchange their task numbers for iteration. The iteration termination condition is reaching the preset maximum number of iterations or the fitness score does not significantly improve for several consecutive generations.

[0019] Preferably, in step S4, independent tasks are executed in parallel with priority, while related tasks are controlled by time windows to ensure sequential dependency.

[0020] A cable protection pipe sampling and testing system employing the above-mentioned scheduling method includes:

[0021] A tubular sample preparation machine is used to prepare tubular samples of cable protection pipes, forming multi-segment cable protection pipe samples with specifications of 200mm and 300mm.

[0022] A sheet sample preparation machine is used to prepare sheet samples of cable protection pipes, forming density samples with a size of 50×50mm and Vicat softening temperature samples with a size of 50×10mm.

[0023] The appearance and dimensional inspection station is used for appearance inspection, dimensional measurement test, defect inspection after drop hammer impact test, and marking length measurement after longitudinal shrinkage rate test of tubular samples of cable protection pipes.

[0024] The flattening tester is used to perform flattening tests on tubular samples of cable protection pipes and to determine whether the samples are qualified by analyzing the stress curve.

[0025] Ring stiffness testing machine, used to conduct ring stiffness tests on tubular samples of cable protection pipes;

[0026] The drop hammer impact testing machine is used to conduct drop hammer impact tests on tubular samples of cable protection pipes of various specifications and models.

[0027] The high-temperature test chamber is used to heat the samples for the longitudinal shrinkage rate test of cable protection pipes and to pre-treat the samples for the ring stiffness test.

[0028] The low-temperature test chamber is used to pre-treat samples for the drop hammer impact test of cable protection pipes.

[0029] The Vicat softening temperature tester is used to perform Vicat softening temperature tests on cable protection pipes and can test two sets of samples simultaneously.

[0030] Density testing machine, used for density testing of cable protection pipes;

[0031] The first track robotic arm is used to deliver the prepared sample to the sample storage rack, and after the sample preparation is completed, it is transferred to the testing area;

[0032] The second track robotic arm is used to deliver the tubular sample of the cable protection pipe to the corresponding testing station;

[0033] The third track robotic arm is used to deliver the sheet-like sample of the cable protection tube to the corresponding testing station;

[0034] AGVs are used to transport sample storage racks from the sample preparation area to the testing area.

[0035] Preferably, the testing stations corresponding to the tubular specimens include a size inspection station, a flattening tester, a ring stiffness tester, a drop hammer impact tester, a high-temperature test chamber, and a low-temperature test chamber.

[0036] Preferably, the testing station corresponding to the sheet-like sample includes a Vicat softening temperature tester and a density tester.

[0037] After adopting the above technical solution, the flexible scheduling method and system for the entire process of cable protection pipe sampling and testing provided by the present invention has the following beneficial effects:

[0038] 1) This invention can collect real-time status data of the testing station, dynamically calculate the weight of each process step using a multi-dimensional priority evaluation algorithm, dynamically generate a testing task scheduling scheme, control the robotic arm and the station to cooperate in carrying out testing operations, realize rapid sample transfer and multi-station collaborative testing, greatly improve task throughput, and shorten the overall testing cycle by 40-60%.

[0039] 2) This invention, through the design of multiple track robotic arms, can achieve parallel operation and automatically trigger task reorganization or resource replacement in abnormal situations, avoiding delays caused by manual intervention and ensuring the continuity and stability of the detection process;

[0040] 3) The dynamic scheduling algorithm of this invention matches task requirements with workstation resources in real time, balances equipment load, classifies and processes related and independent tasks, maximizes parallel execution capabilities, and improves the utilization efficiency of critical equipment.

[0041] 4) This invention achieves centralized transmission and storage of data throughout the entire process through ROS, ensuring the real-time performance, integrity and traceability of the detection data, and effectively solving the problems of low efficiency, large error and difficulty in coordination of traditional manual detection;

[0042] 5) This invention supports rapid manual confirmation and automatic system repair, improving operation and maintenance efficiency; the ROS architecture supports multi-language development and modular expansion, which can flexibly adapt to new testing items or workstation equipment, reducing system upgrade costs. Attached Figure Description

[0043] Figure 1 This is a flowchart of a flexible scheduling method for the entire process of cable protection control sample testing according to the present invention;

[0044] Figure 2 This is a schematic diagram of a cable protection control sample testing system according to the present invention.

[0045] Among them: 1. Tubular sample preparation machine; 2. Sheet sample preparation machine; 3. Appearance and size inspection station; 4. Flattening test machine; 5. Ring stiffness test machine; 6. Drop hammer impact test machine; 7. High temperature test chamber; 8. Low temperature test chamber; 9. Vicat softening temperature test machine; 10. Density test machine; 11. First track robotic arm; 12. Second track robotic arm; 13. Third track robotic arm; 14. AGV; 15. Sample storage rack. Detailed Implementation

[0046] The present invention will now be described more clearly and completely with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0047] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0050] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0051] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0052] like Figure 1 As shown, the present invention provides a flexible scheduling method for the entire process of cable protection control sampling and testing, comprising the following steps:

[0053] S1. Process Step Planning and Design: Based on the inherent characteristics of multiple test items for cable protection pipes, and considering both test completeness and step universality, each test item is subdivided into multiple test step sub-items, forming a process step library. These test items include appearance, dimensions, ring stiffness, flattening, drop hammer impact, longitudinal shrinkage rate, density, and Vicat softening temperature. First, the main task item is selected based on the relationship between each test. For example, the drop hammer impact test includes pre-test appearance inspection of the sample, low-temperature pretreatment of the MPP material sample, the drop hammer impact test itself, and post-test appearance crack inspection. Therefore, the drop hammer impact test can be selected as the main task item. Since the appearance test is already included, it does not need to be tested separately. Based on the above principle, flattening, ring stiffness, drop hammer impact, density, and Vicat softening temperature are selected as the main task items. Second, based on the relationship between each test item... The required sample quantity for each test item is used to generate a subtask set {xx1,...,xxi}, where i is the required sample quantity. For example, if the ring stiffness test requires testing 3 samples, then the ring stiffness test is decomposed into {HGD1,HGD2,HGD3}. Finally, based on the testing process involved in each test item, subtask items are designed and generated. Taking the drop hammer impact test as an example, the LC1 subtask set can be further subdivided into {LC1-WG (pre-impact visual inspection), LC1-DW (low-temperature pretreatment), LC1-LC (drop hammer impact), LC1-WGJC (post-impact visual defect inspection)}. Based on the relationship between each testing task, the optimal subtask items are designed and decomposed to reduce the retesting of test items. Each subtask is assigned a corresponding execution time, which is beneficial for the dynamic scheduling and adjustment of the subtask execution order in the future, thereby improving overall efficiency.

[0054] S2. Generate initial task flow: Select the corresponding test steps from the process step library according to the type of each received detection task, and automatically generate the initial task flow;

[0055] S3. Dynamically Generating the Optimal Scheduling Scheme: During the experiment, sensors collect real-time status data of the testing stations and detect abnormal events. Based on this, a multi-dimensional priority evaluation algorithm is used to dynamically calculate the weight of each process step and dynamically generate a testing task scheduling scheme. Sensors are installed at each testing station to collect information, including the status of the testing equipment, sample information, and testing results. This information is then sent to the central control platform via ROS. ROS features a distributed architecture and loosely coupled design, supports multi-language development and a rich tool library, enabling efficient inter-node communication and data transmission. It also boasts strong community support and excellent cross-platform compatibility, greatly improving development efficiency and scalability. The central control platform, based on the testing station information, prioritizes tasks and allocates resources... The allocation method for task scheduling involves constructing a priority assessment model and task classification. During the task arrangement process, considering factors such as the urgency of the tasks, resource scarcity, testing cycle, and time constraints, a dynamic priority assessment model needs to be constructed. The input features of the priority assessment model include the real-time reported equipment status (idle / occupied / faulty) and resource availability (remaining load of the press, consumable inventory) from each testing station, and a list of sub-tasks to be executed (containing task attributes: urgency, resource requirements, and testing cycle). Filtering conditions include equipment status being "idle" or "reusable," the required resources (such as robotic arms and testing equipment) being currently available, and the task not exceeding the timeout period (within the testing cycle constraint). The output features of the priority assessment model include a task set Q = {q1, q2, ..., q...}. i ,…,q m Priority scoring is calculated using weighted coefficients, with the formula: P = ω1·U + ω2·R + ω3·T, where (ω1, ω2, ω3) are pre-defined weight values, such as ω1 = 0.4; ω2 = 0.3; ω3 = 0.3; U represents the urgency of the task, R represents resource scarcity, and T represents the detection cycle constraint. m task sorting schemes are randomly generated, where m is the task number, flexibly set according to the number and complexity of tasks. Taking into account task completion time, resource utilization, and task urgency, the fitness function is defined as the weighted sum of the above three indicators: Among them, t i For step q i The detection cycle, r i For step q i The resource demand, R total U represents the total resource quantity. i For step q iThe urgency of each task is determined by the number of subtasks (n), α, and β, which are weighting coefficients. Fitness scores are calculated using a fitness function. Two task positions are randomly selected based on the fitness scores, and their task numbers are swapped for iteration. This increases the diversity of task solutions and prevents local optima. The iteration terminates when the preset maximum number of iterations (e.g., 100) is reached or the fitness value no longer significantly improves after several generations. During task execution, equipment status and resource availability are monitored in real time. If equipment failure or resource shortage occurs during task execution, the priority assessment model is immediately rerun, the candidate task set is updated, and a new task scheduling scheme is dynamically generated. This dynamic adjustment mechanism effectively addresses uncertainties during task execution, ensuring the real-time nature and adaptability of task scheduling, ultimately achieving efficient execution of experimental tasks and rational utilization of resources.

[0056] S4. Generate Control Commands: Based on the scheduling scheme, generate control commands to control the robotic arm to allocate test samples to independent or associated testing stations in parallel, ensuring coordinated execution of testing tasks. Specifically, the task scheduling module parses the received execution sequence string into a list of task objects and creates task objects, assigning task IDs and priority scores to the task objects. Based on the task priority scores and resource requirements, it calculates the estimated start and end times for each task, creating a scheduling command object containing the task ID, start time, end time, allocated resources, and execution action information. The scheduling command object is then converted into a sendable format, such as JSON or XML, and sent to the robotic arm via ROS. The robotic arm then picks up the test samples and moves them to the testing station for automated testing. Based on the characteristics of the test, the execution tasks are categorized as independent (requiring no other tasks). The system handles both independent and related tasks (such as appearance inspection and density testing) and tasks that depend on data from preceding tasks (such as a flattening test after ring stiffness testing). Independent tasks can be executed in parallel with priority, while related tasks are analyzed for their parallelizable sub-tasks. The robotic arm control unit dynamically allocates robotic arm and workstation resources using a load balancing algorithm to maximize the utilization of each workstation. Simultaneously, based on task parallelism and workstation location, the control unit plans the optimal path to deliver samples to multiple available workstations. For example, sample A can be delivered to the appearance inspection workstation while sample B is delivered to the Vicat softening temperature test workstation. These two tasks do not require sequential dependence and can be completed in parallel. For tasks that require related execution (such as ring stiffness testing after longitudinal shrinkage rate testing), the system uses time window control to ensure that subsequent tasks start immediately after the preceding tasks are completed.

[0057] In summary, this invention achieves intelligent and flexible scheduling of the entire cable protection control sampling inspection process by constructing a dynamic scheduling algorithm based on a multi-dimensional priority evaluation model and combining it with the ROS real-time communication architecture. Through task sorting and dynamic adjustment, combined with task scheduling and fault tolerance mechanisms, and through the robotic arm control unit to achieve precise path planning and parallel task execution, this technical solution shortens the inspection cycle by 40-60% while ensuring the integrity and traceability of inspection data. It effectively solves the industry pain points of low efficiency, large errors, and difficulty in coordination in traditional manual inspection.

[0058] like Figure 2 As shown, the present invention also provides a cable protection tube sample testing system using the above-mentioned scheduling method, including a tubular sample preparation machine 1, a sheet sample preparation machine 2, an appearance and size inspection station 3, a flattening test machine 4, a ring stiffness test machine 5, a drop hammer impact test machine 6, a high temperature test chamber 7, a low temperature test chamber 8, a Vicat softening temperature test machine 9, a density test machine 10, a first track robotic arm 11, a second track robotic arm 12, a third track robotic arm 13, an AGV 14, and a sample storage rack 15 adapted to various specifications of samples. The tubular sample preparation machine 1 is used for testing the tubular cable protection tubes. Sample preparation involves forming multi-segment cable protection pipe specimens with specifications of 200mm and 300mm. A sheet specimen preparation machine 2 is used to prepare sheet specimens of cable protection pipes, forming density specimens of 50×50mm and Vicat softening temperature specimens of 50×10mm. An appearance and dimensional inspection station 3 is used for appearance inspection, dimensional measurement tests, defect inspection after drop hammer impact tests, and measurement of the mark length after longitudinal shrinkage tests of the cable protection pipe tubular specimens. A flattening testing machine 4 is used to conduct flattening tests on the cable protection pipe tubular specimens and to judge the specimens based on stress curves. Whether a sample is qualified or not is determined by the following: Ring stiffness testing machine 5 is used to perform ring stiffness tests on tubular samples of cable protection pipes; Drop hammer impact testing machine 6 is used to perform drop hammer impact tests on tubular samples of cable protection pipes of various specifications and models; High temperature test chamber 7 is used to heat samples for longitudinal shrinkage rate tests of cable protection pipes and to pre-treat samples for ring stiffness tests; Low temperature test chamber 8 is used to pre-treat samples for drop hammer impact tests of cable protection pipes; Vicat softening temperature tester 9 is used to perform Vicat softening temperature tests on cable protection pipes and can simultaneously test two sets of samples; Density tester 10... For conducting density tests on cable protection pipes, the first track robotic arm 11 is used to send the prepared sample to the sample storage rack 15 and wait for the sample preparation to be completed before transferring it to the testing area. The second track robotic arm 12 is used to send the tubular sample of the cable protection pipe to the appearance dimension inspection station 3, the flattening tester 4, the ring stiffness tester 5, the drop hammer impact tester 6, the high temperature test chamber 7, and the low temperature test chamber 8. The third track robotic arm 13 is used to send the sheet sample of the cable protection pipe to the Vicat softening temperature tester 9 and the density tester 10. The AGV 14 is used to transfer the sample storage rack 15 from the sample preparation area to the testing area.

[0059] In addition, the system also includes displacement sensors and vision recognition machines for appearance inspection, dimensional measurement tests, defect inspection after drop hammer impact tests, and marking length measurement after longitudinal shrinkage rate tests of tubular samples of cable protection pipes. It also includes sensors installed at each workstation, as well as ROS for centralized transmission and storage of data throughout the entire process. ROS is used to receive sensor signals and send them to the central control platform.

[0060] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A flexible scheduling method for the entire process of cable protection control sampling and testing, characterized in that, Includes the following steps: S1. Process Step Planning and Design: Based on the inherent characteristics of multiple test items for cable protection pipes, and from the perspective of balancing test integrity and step universality, each test item is subdivided into multiple test step sub-items to form a process step library. S2. Generate initial task flow: Select the corresponding test steps from the process step library according to the type of each received detection task, and automatically generate the initial task flow; S3. Dynamically generate the optimal scheduling scheme: During the test, the status data of the detection station is collected in real time by the sensor and abnormal events are detected in real time. Based on this, a multi-dimensional priority evaluation algorithm is used to dynamically calculate the weight of each process step and dynamically generate a detection task scheduling scheme. S4. Generate control instructions: Generate control instructions according to the scheduling plan, and control the robotic arm to distribute the test samples to independent or associated test stations in parallel to ensure that the test tasks are executed in a coordinated manner.

2. The flexible scheduling method for the entire process of cable protection control sampling and testing according to claim 1, characterized in that, The test items for the cable protection pipe in step S1 include appearance, size, ring stiffness, flattening, drop hammer impact, longitudinal shrinkage rate, density, and Vicat softening temperature.

3. The flexible scheduling method for the entire process of cable protection control sampling and testing according to claim 1, characterized in that, The dynamic generation of the optimal scheduling scheme in step S3 includes the following steps: S31. Process Step Priority Scoring: An initial priority score is assigned to each process step using the priority scoring formula of a multi-dimensional priority evaluation model. The priority scoring formula is as follows: P = ω1·U + ω2·R + ω3·T Where (ω1, ω2, ω3) are pre-set weight values, such as ω1 = 0.4; ω2 = 0.3; ω3 = 0.3; U represents the urgency level, R represents the resource scarcity, and T represents the detection cycle constraint; S32. Dynamic Adjustment of Task Scheme: m task sorting schemes are randomly generated, where m is the task number, flexibly set according to the number and complexity of tasks; considering task completion time, resource utilization, and task urgency, the fitness function is defined as the weighted sum of the above three indicators: Among them, t i For step q i The detection cycle, r i For step q i The resource demand, R total U represents the total resource quantity. i For step q i The urgency level of the task is denoted by n, where n is the number of subtasks, and α and β are weighting coefficients.

4. The flexible scheduling method for the entire process of cable protection control sampling and testing according to claim 3, characterized in that, In step S32, fitness is scored according to the defined fitness function, and two task positions are randomly selected based on the fitness score to exchange their task numbers for iteration. The iteration termination condition is reaching the preset maximum number of iterations or the fitness score not significantly improving for several consecutive generations.

5. The flexible scheduling method for the entire process of cable protection control sampling and testing according to claim 1, characterized in that, In step S4, independent tasks are executed in parallel with priority, while related tasks are controlled by time windows to ensure sequential dependency.

6. A cable protection control sampling and testing system employing the scheduling method described in any one of claims 1-5, characterized in that, include: Tubular sample preparation machine (1) is used to prepare tubular samples of cable protection pipes to form multi-segment cable protection pipe samples with specifications of 200mm and 300mm. A sheet sample preparation machine (2) is used to prepare sheet samples of cable protection pipes to form density samples with a specification of 50×50mm and Vicat softening temperature samples with a specification of 50×10mm. The appearance and size inspection station (3) is used for appearance inspection, size measurement test, defect inspection after drop hammer impact test and marking length measurement after longitudinal shrinkage rate test of cable protection pipe tubular samples. Flattening tester (4) is used to perform flattening test on tubular samples of cable protection pipes and to determine whether the sample is qualified by stress curve; Ring stiffness testing machine (5) is used to perform ring stiffness tests on tubular samples of cable protection pipes; The drop hammer impact tester (6) is used to conduct drop hammer impact tests on tubular samples of cable protection pipes of various specifications and models. High temperature test chamber (7) is used to heat the samples for longitudinal shrinkage rate test of cable protection pipe and to pre-treat the samples for ring stiffness test. Low temperature test chamber (8) is used to pre-treat the samples of cable protection pipe drop hammer impact test; Vicat softening temperature tester (9) is used to perform Vicat softening temperature test on cable protection pipes and can simultaneously test two sets of samples. Density testing machine (10) is used to conduct density tests on cable protection pipes; The first track robotic arm (11) is used to send the prepared sample to the sample storage rack (15) and wait for the sample to be transferred to the detection area after the sample preparation is completed; The second track robotic arm (12) is used to deliver the tubular sample of the cable protection pipe to the corresponding testing station; The third track robotic arm (13) is used to deliver the cable protection tube sheet sample to the corresponding testing station; AGV (14) is used to transfer the sample storage rack (15) from the sample preparation area to the testing area.

7. The cable protection tube sampling and testing system according to claim 6, characterized in that: The testing stations corresponding to the tubular specimens include the appearance and size testing station (3), the flattening test machine (4), the ring stiffness test machine (5), the drop hammer impact test machine (6), the high temperature test chamber (7), and the low temperature test chamber (8).

8. The cable protection tube sampling and testing system according to claim 6, characterized in that: The testing stations corresponding to the sheet-like samples include a Vicat softening temperature tester (9) and a density tester (10).

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