阅读说明：本技术 智能加工系统的动态调度的方法 (Dynamic scheduling method of intelligent processing system ) 是由 孙娜 张强 李红波 张利凤 曹玲丽 赵晓林 喻明炜 于 2021-07-22 设计创作，主要内容包括：本发明涉及一种智能加工系统的动态调度的方法,包括：8台计算机数控机床、1辆轨道式自动引导车、1条上料传送带、1条下料传送带,当智能加工系统采用一道工序加工时的调度方法为：S1:初始化各变量；S2:开始从完成八台计算机数控机床的时间t0开始到8*60*60s结束的关于时间t的循环；S3：循环结束,输出作业流程表；当智能加工系统采用二道工序加工时的调度方法为：S1:初始化各变量；S2:根据完成第一二道工序的时间得到最优的两种计算机数控机床工作台配比,由此数据开始模拟加工系统的运行；S3:开始从完成八台计算机数控机床的时间t0开始到8*60*60s结束的关于时间t的循环；S4：循环结束,输出作业流程表。RGV一般调度模型的算法运行时间大大降低。(The invention relates to a dynamic scheduling method of an intelligent processing system, which comprises the following steps: 8 computer numerical control machine tool, 1 rail mounted automatic guided vehicle, 1 material loading conveyer belt, 1 unloading conveyer belt, the scheduling method who adds man-hour when intelligent processing system adopts a process does: s1, initializing each variable; s2, starting a cycle about time t from time t0 of completing eight computer numerical control machines to 8 x 60S; s3: after the circulation is finished, outputting an operation flow chart; the scheduling method when the intelligent processing system adopts two working procedures for processing comprises the following steps: s1, initializing each variable; s2, obtaining the optimal ratio of the two computer numerical control machine tool working tables according to the time for completing the first and second procedures, and starting to simulate the operation of the processing system according to the data; s3, starting a cycle about time t from time t0 of completing eight computer numerical control machines to 8 x 60S; s4: and (5) after the circulation is finished, outputting the operation flow table. The algorithm running time of the RGV general scheduling model is greatly reduced.)

1. A method of dynamic scheduling for an intelligent processing system, the intelligent processing system comprising: 8 computer numerical control machine tool, 1 rail mounted automatic guided vehicle, 1 material loading conveyer belt, 1 unloading conveyer belt, its characterized in that:

the scheduling method when the intelligent processing system adopts one process to process comprises the following steps:

s1, initializing each variable;

s2, starting a cycle about time t from time t0 of completing eight computer numerical control machines to 8 x 60S;

s3: after the circulation is finished, outputting an operation flow chart;

the scheduling method when the intelligent processing system adopts two working procedures for processing comprises the following steps:

s1, initializing each variable;

s2, obtaining the optimal ratio of the two computer numerical control machine tool working tables according to the time for completing the first and second procedures, and starting to simulate the operation of the processing system according to the data;

s3, starting a cycle about time t from time t0 of completing eight computer numerical control machines to 8 x 60S;

s4: and (5) after the circulation is finished, outputting the operation flow table.

2. The method for dynamic scheduling of intelligent processing systems of claim 1, wherein: initializing all variables in step S1, namely initializing coordinates of the eight cnc machine tool benches as 11223344, and initializing and marking the remaining operating time of the eight cnc machine tools and the remaining operating time of the automatic guided vehicle; taking 1-3-5-7-8-6-4-2 as a first feeding sequence, and obtaining the residual working time of the eight computer numerical control machines and the residual working time of the automatic guided vehicle when the feeding is finished, wherein the coordinate of the automatic guided vehicle is 1.

3. The method for dynamic scheduling of intelligent processing systems of claim 1, wherein: when the intelligent processing system adopts a general scheduling model adopted in one-process processing, the shortest head-to-tail traversal is adopted for the first circle, so that the first computer numerical control machine tool does not wait when the second circle starts, the shortest traversal time of the first circle is obtained, the state of the rail-mounted automatic guided vehicle at each second in one shift is discussed according to the proximity principle of the rail-mounted automatic guided vehicle, and the rail-mounted automatic guided vehicle general scheduling model of one process which enables the computer numerical control machine tool to have the best working efficiency is established;

the highest working efficiency of the computer numerical control machine tool is taken as an objective function, namely the most occupied proportion of the working time of each computer numerical control machine tool is maximum:

the starting time of a computer numerical control machine tool is eight hours, so that:

T_m＝8*3600

the starting time of a computer numerical control machine tool is not less than the working time of the computer numerical control machine tool:

T_m>n_mT_cm

to obtain the total number n of finished products machined by the mth computer numerical control machine tool in one shift_mIntroducing three 0-1 variables to respectively indicate whether the rail-mounted automatic guided vehicle works at the ith moment, whether the mth computer numerical control machine tool works at the ith moment and whether the distance between the rail-mounted automatic guided vehicle and the mth computer numerical control machine tool is 0 at the ith moment;

the processing material is just added at the moment that the rail type automatic guiding vehicle and the computer numerical control machine tool are idle and the distance between the rail type automatic guiding vehicle and the computer numerical control machine tool is 0, so that the total number n of finished products processed by the mth computer numerical control machine tool in one class is n_mComprises the following steps:

because the task allocation of the computer numerical control machine tools of the system needs to be more balanced, the difference of the total number of processed finished products between any two computer numerical control machine tools is not too large, and the difference of the total number of processed finished products between any two computer numerical control machine tools is not more than 1 material;

|n_m-n_k|≤1

the general scheduling model is therefore:

4. the method for dynamic scheduling of intelligent processing systems of claim 1, wherein: when the intelligent processing system adopts a circular scheduling model adopted in one-step processing, as the calculation of a general scheduling model is complex and only one processing step exists, circulation can exist under certain conditions in one shift;

the cycle when the computer numerical control machine tool has no waiting is as follows:

T＝T_a+T_Rj+T_mo

the cycle when waiting does not exist in the rail type automatic guided vehicle is as follows:

T_R＝T_m+4T_Rj+4T_Rw

due to T_RjAnd T_RwIs a parameter, so at T_mIs the shortest time T_RIt is minimal.

Solving for T in the loop_mMinimum value, introducing a 0-1 flag variable X_ijIndicating whether to move from the ith cnc machine to the jth cnc machine (i, j ═ 1 … … 8, i ≠ j), S_ijRepresenting a distance matrix between 8 computer numerical control machines;

so T_mExpressed as:

because of being a cycle, each computer numerical control machine tool only has one time as an end point in one cycle, and one time as a starting point:

so solving for T in the loop_mThe minimum model is:

solving the optimal path is: 1-3-5-7-8-6-4-2;

at this time T_moHas a value of 0 or t₁；

Circulation T without waiting for computer numerical control machine tool and circulation T without waiting for rail type automatic guided vehicle_RAre all minimum values, so the cycle found in this case is optimal;

the circulation which takes 1-3-5-7-8-6-4-2 as a circulating path meets the condition.

T＝T_a+T_Rj+T_mo

T_R＝T_m+4T_Rj+4T_Rw

In order to improve the efficiency of the computer numerical control machine tool, the waiting time of the computer numerical control machine tool in the circulation is reduced as much as possible;

at T > T_RThe method comprises the following steps:

the waiting time of the computer numerical control machine tool is as follows:

T_d＝3T_Rj+4T_Rw-6T_mo

the waiting time of the rail type automatic guided vehicle is as follows:

T_D＝T-T_R

a：time of flight

Because the computer numerical control machine tool does not have the removal waiting time T_dExtra latency, so a loop holds;

b：the method comprises the following steps:

when T is_d＜T_DThe time cycle exists, that is, the waiting time of the computer numerical control machine tool is not at T_dThere is an extra latency.

5. The method for dynamic scheduling of intelligent processing systems of claim 1, wherein: when the intelligent processing system adopts a dynamic scheduling model adopted in two-procedure processing, the computer numerical control machine tool is used for processing the time required by a first procedure for finishing a two-procedure material and the time required by a second procedure for finishing a two-procedure material, so that the number of the computer numerical control machine tools in the first procedure and the number of the computer numerical control machine tools in the second procedure are not always equal in 8 computer numerical control machine tools, and are distributed in proportion:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the highest working efficiency of the computer numerical control machine tool is taken as an objective function, namely the proportion of the working time of each computer numerical control machine tool is the largest:

the starting time of a computer numerical control machine tool is eight hours, so that:

T_m＝8*3600

the starting time of a computer numerical control machine tool is not less than the working time of the computer numerical control machine tool:

T_m＞n_mT_cm

to obtain the total number n of finished products machined by the mth computer numerical control machine tool in one shift_mThree 0-1 mark variables are introduced to respectively indicate whether the rail-mounted automatic guided vehicle works at the ith moment, whether the mth computer numerical control machine tool works at the ith moment and whether the distance between the rail-mounted automatic guided vehicle and the mth computer numerical control machine tool is 0 at the ith moment.

The processing material is just added at the moment that the rail type automatic guiding vehicle and the computer numerical control machine tool are idle and the distance between the rail type automatic guiding vehicle and the computer numerical control machine tool is 0, so that the total number n of finished products processed by the mth computer numerical control machine tool in one class is n_mComprises the following steps:

because the task allocation of the computer numerical control machine tools of the system needs to be more balanced, the difference of the total number of processed finished products between any two computer numerical control machine tools is not too large, and the difference of the total number of processed finished products between any two computer numerical control machine tools is not more than 1 material;

|n_m-n_k| < 1(m, k is CNC processing same working procedure)

The general scheduling model is therefore:

6. the method for dynamic scheduling of intelligent processing systems of claim 1, wherein: the intelligent processing system adopts a process to process when the computer numerical control machine tool has a fault, the dynamic scheduling model solving algorithm of the rail type automatic guided vehicle comprises the following steps:

step 1: initializing each variable;

step 2: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

step 3: after the circulation is finished, outputting an operation flow chart;

the general scheduling model of the rail type automatic guided vehicle processed in one process when the computer numerical control machine tool has faults is as follows:

the dynamic scheduling model of the rail type automatic guided vehicle processed in one process when the computer numerical control machine tool has faults is as follows:

the computer numerical control machine tool processes the time required for finishing the first procedure of a two-procedure material and the time required for finishing the second procedure of a two-procedure material, so the number of the computer numerical control machine tools of the first procedure and the number of the computer numerical control machine tools of the second procedure in 8 computer numerical control machine tools are not always equal and are distributed in proportion:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the general scheduling model is therefore:

7. the method for dynamic scheduling of intelligent processing systems of claim 1, wherein: the intelligent processing system adopts two procedures to process when the computer numerical control machine tool has faults, and the dynamic scheduling model solving algorithm of the rail type automatic guided vehicle comprises the following steps:

step 1: initializing each variable;

step 3: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

step 4: after the circulation is finished, outputting an operation flow chart;

the dynamic scheduling model of the rail type automatic guided vehicle processed by two working procedures with faults of the computer numerical control machine tool is as follows:

the computer numerical control machine tool processes the time required for finishing the first procedure of a two-procedure material and the time required for finishing the second procedure of a two-procedure material, so the number of the computer numerical control machine tools of the first procedure and the number of the computer numerical control machine tools of the second procedure in 8 computer numerical control machine tools are not always equal and are distributed in proportion:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the general scheduling model is therefore:

the method is a general scheduling model of the rail-mounted automatic guided vehicle adopting two procedures, and the occurrence time of a random digital-analog fault and the occurrence of a computer numerical control machine tool are added on the basis of the general scheduling model of the rail-mounted automatic guided vehicle adopting two procedures.

Technical Field

The invention relates to the technical field of industrial intelligent processing, in particular to a dynamic scheduling method of an intelligent processing system.

Background

A typical intelligent processing system generally includes a guide vehicle, a plurality of numerically controlled machine tools and associated accessory equipment, and one numerically controlled machine tool can only mount 1 type of tool at a time to process 1 material. If the processing course of material needs twice processes, then need to have different digit control machine tool installation different cutters to process respectively and accomplish. The guide vehicle can move and stop waiting on the linear track according to the instruction, and only one of the moving, stop waiting, loading and unloading and cleaning operations can be executed at the same time, and the operations all need a certain time.

For the intelligent processing system model, the moving steps of the RGV are optimized according to the parameter setting and the state of the CNC, including the track or the stop position N times in the future, and the working state of the CNC is not changed or controlled actively, so how to schedule the guide vehicle to ensure that the working efficiency of the whole system is the highest, namely, the maximum material processed in each shift (8 hours) is the main purpose of the intelligent processing system.

For the situation that one process is needed to be processed, the states of the RGVs in each second of one shift are discussed according to the nearby principle of the RGVs, and an RGV general scheduling model of the one process which enables the CNC working efficiency to be optimal is established. Because the interval time between two times of material loading and unloading of CNC is smaller relative to the time of one shift, the optimal path of one cycle of RGV is calculated, a cycle model is established, and then the condition meeting the cycle scheduling model is discussed. And finally comparing the algorithm running time of the general scheduling model and the circular scheduling model, and the total number of the processed materials. And comparing the working efficiency of the circulation model and the working efficiency of the general model under the condition of meeting the condition.

For the situation that two working procedures are needed for processing, the number of processing machines in the first working procedure and the second working procedure in 8 CNC machines is determined according to the minimum time waste. The status of the RGV is discussed for each second of a shift according to its proximity principle, and a general scheduling model of the RGV is established for the two processes that optimize CNC work efficiency.

When a process is required, the CNC is out of order, which is not always necessary due to the time when the failure occurs and the failed CNC. Random numbers were introduced to simulate the time of failure occurrence and the CNC in which the failure occurred. The status of the RGV is discussed for each second of a shift according to its proximity principle, adding random numbers to simulate failures, and building a general RGV scheduling model for a process that optimizes CNC efficiency in the event of a possible failure.

When two working procedures are needed to be processed, the number of processing machines in the first working procedure and the second working procedure in 8 CNC machines is determined according to the minimum waste of time when the CNC fails. Due to the time when the failure occurred and the CNC in which the failure occurred is not necessary. Random numbers were introduced to simulate the time of failure occurrence and the CNC in which the failure occurred. The status of the RGV is discussed for each second of a shift according to its proximity principle, adding random numbers to simulate failures, and building a general RGV scheduling model for two processes that optimizes CNC work efficiency in the event of a possible failure.

Disclosure of Invention

In order to achieve the purpose, the invention adopts the following technical scheme:

a method of dynamic scheduling for an intelligent processing system, the intelligent processing system comprising: 8 computer numerical control machine tool, 1 rail mounted automatic guided vehicle, 1 material loading conveyer belt, 1 unloading conveyer belt, the scheduling method who adds man-hour when intelligent processing system adopts a process does:

s1: initializing each variable;

s2: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

s3: after the circulation is finished, outputting an operation flow chart;

the scheduling method when the intelligent processing system adopts two working procedures for processing comprises the following steps:

s1: initializing each variable;

s2: obtaining the optimal ratio of two computer numerical control machine tool working tables according to the time for completing the first and second procedures, and starting to simulate the operation of a processing system by data;

s3: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

s4: and (5) after the circulation is finished, outputting the operation flow table.

Preferably, the initializing each variable in step S1 is initializing coordinates of eight cnc machine tables as 11223344, and initializing and marking remaining operating time of the eight cnc machine tools and remaining operating time of the automatic guided vehicle; taking 1-3-5-7-8-6-4-2 as a first feeding sequence, and obtaining the residual working time of the eight computer numerical control machines and the residual working time of the automatic guided vehicle when the feeding is finished, wherein the coordinate of the automatic guided vehicle is 1.

Preferably, when the intelligent processing system adopts a general scheduling model adopted in one process processing, the shortest head-to-tail traversal is adopted for the first circle, so that the first computer numerical control machine tool at the beginning of the second circle has no waiting, the shortest traversal time of the first circle is obtained, the state of the rail-mounted automatic guided vehicle at each second in one shift is discussed according to the proximity principle of the rail-mounted automatic guided vehicle, and the general scheduling model of the rail-mounted automatic guided vehicle of one process, which enables the computer numerical control machine tool to have the best working efficiency, is established;

the highest working efficiency of the computer numerical control machine tool is taken as an objective function, namely the most occupied proportion of the working time of each computer numerical control machine tool is maximum:

the starting time of a computer numerical control machine tool is eight hours, so that:

T_m＝8*3600

the starting time of a computer numerical control machine tool is not less than the working time of the computer numerical control machine tool:

T_m＞n_mT_cm

in order to obtain the total number n _ m of finished products machined by the mth computer numerical control machine tool in one shift, three 0-1 variables are introduced to respectively indicate whether the rail-type automatic guided vehicle works at the ith moment, whether the mth computer numerical control machine tool works at the ith moment and whether the distance between the rail-type automatic guided vehicle and the mth computer numerical control machine tool is 0 at the ith moment;

the time that the distance between the rail type automatic guiding vehicle and the computer numerical control machine tool is 0 when the rail type automatic guiding vehicle and the computer numerical control machine tool are idle can be just increased by one processing material, so the total finished product number n _ m processed by the mth computer numerical control machine tool in one class is as follows:

because the task allocation of the computer numerical control machine tools of the system needs to be more balanced, the difference of the total number of processed finished products between any two computer numerical control machine tools is not too large, and the difference of the total number of processed finished products between any two computer numerical control machine tools is not more than 1 material;

|n_m-n_k|≤1

the general scheduling model is therefore:

preferably, when the intelligent processing system adopts a circular scheduling model adopted in one-step processing, as the calculation of a general scheduling model is complex and only one processing step exists, circulation can exist under certain conditions in one shift;

the cycle when the computer numerical control machine tool has no waiting is as follows:

T＝T_a+T_Rj+T_mo

the cycle when waiting does not exist in the rail type automatic guided vehicle is as follows:

T_R＝T_m+4T_Rj+4T_Rw

due to T_RiAnd T_RwIs a parameter, so at T_mIs the shortest time T_RIt is minimal.

Solving for T in the loop_mMinimum value, introducing a 0-1 flag variable X_ijIndicating whether to move from the ith cnc machine to the jth cnc machine (i, j ═ 1 … … 8, i ≠ j), S_ijRepresenting a distance matrix between 8 computer numerical control machines;

so T_mExpressed as:

because of being a cycle, each computer numerical control machine tool only has one time as an end point in one cycle, and one time as a starting point:

so solving for T in the loop_mThe minimum model is:

solving the optimal path is: 1-3-5-7-8-6-4-2;

at this time T_moHas a value of 0 or t₁；

Circulation T without waiting for computer numerical control machine tool and circulation T without waiting for rail type automatic guided vehicle_RAre all minimum values, so the cycle found in this case is optimal;

the circulation which takes 1-3-5-7-8-6-4-2 as a circulating path meets the condition.

T＝T_a+T_Rj+T_mo

T_R＝T_m+4T_Rj+4T_Rw

In order to improve the efficiency of the computer numerical control machine tool, the waiting time of the computer numerical control machine tool in the circulation is reduced as much as possible;

at T > T_RThe method comprises the following steps:

the waiting time of the computer numerical control machine tool is as follows:

T_d＝3T_Rj+4T_Rw-6T_mo

the waiting time of the rail type automatic guided vehicle is as follows:

T_D＝T-T_R

time of flight

Because the computer numerical control machine tool does not have the removal waiting time T_dExtra latency, so a loop holds;

the method comprises the following steps:

when T is_d＜T_DThe time cycle exists, that is, the waiting time of the computer numerical control machine tool is not at T_dThere is an extra latency.

Preferably, when the intelligent processing system adopts a dynamic scheduling model adopted in two-step processing, the computer numerical control machine tool is used for processing the first step of a two-step material and the second step of a two-step material, so that the number of the computer numerical control machine tools in the first step and the number of the computer numerical control machine tools in the second step are not always equal in 8 computer numerical control machine tools, and are proportionally distributed:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the highest working efficiency of the computer numerical control machine tool is taken as an objective function, namely the proportion of the working time of each computer numerical control machine tool is the largest:

the starting time of a computer numerical control machine tool is eight hours, so that:

T_m＝8*3600

the starting time of a computer numerical control machine tool is not less than the working time of the computer numerical control machine tool:

T_m＞n_mT_cm

to obtain the total number n of finished products machined by the mth computer numerical control machine tool in one shift_mThree 0-1 mark variables are introduced to respectively indicate whether the rail-mounted automatic guided vehicle works at the ith moment, whether the mth computer numerical control machine tool works at the ith moment and whether the distance between the rail-mounted automatic guided vehicle and the mth computer numerical control machine tool is 0 at the ith moment.

The processing material is just added at the moment that the rail type automatic guiding vehicle and the computer numerical control machine tool are idle and the distance between the rail type automatic guiding vehicle and the computer numerical control machine tool is 0, so that the total number n of finished products processed by the mth computer numerical control machine tool in one class is n_mComprises the following steps:

because the task allocation of the computer numerical control machine tools of the system needs to be more balanced, the difference of the total number of processed finished products between any two computer numerical control machine tools is not too large, and the difference of the total number of processed finished products between any two computer numerical control machine tools is not more than 1 material;

|n_m-n_k| < 1(m, k is CNC processing same working procedure)

The general scheduling model is therefore:

preferably, the intelligent processing system adopts a process for processing, and the method for solving the dynamic scheduling model of the rail-mounted automatic guided vehicle when the computer numerical control machine tool has a fault comprises the following steps:

step 1: initializing each variable;

step 2: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

step 3: after the circulation is finished, outputting an operation flow chart;

the general scheduling model of the rail type automatic guided vehicle processed in one process when the computer numerical control machine tool has faults is as follows:

the dynamic scheduling model of the rail type automatic guided vehicle processed in one process when the computer numerical control machine tool has faults is as follows:

the computer numerical control machine tool processes the time required for finishing the first procedure of a two-procedure material and the time required for finishing the second procedure of a two-procedure material, so the number of the computer numerical control machine tools of the first procedure and the number of the computer numerical control machine tools of the second procedure in 8 computer numerical control machine tools are not always equal and are distributed in proportion:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the general scheduling model is therefore:

preferably, the intelligent processing system adopts two working procedures to process, and the dynamic scheduling model solving algorithm of the rail type automatic guided vehicle when the computer numerical control machine tool has faults comprises the following steps:

step 1: initializing each variable;

step 3: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

step 4: after the circulation is finished, outputting an operation flow chart;

the dynamic scheduling model of the rail type automatic guided vehicle processed by two working procedures with faults of the computer numerical control machine tool is as follows:

the computer numerical control machine tool processes the time required for finishing the first procedure of a two-procedure material and the time required for finishing the second procedure of a two-procedure material, so the number of the computer numerical control machine tools of the first procedure and the number of the computer numerical control machine tools of the second procedure in 8 computer numerical control machine tools are not always equal and are distributed in proportion:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the general scheduling model is therefore:

the method is a general scheduling model of the rail-mounted automatic guided vehicle adopting two procedures, and the occurrence time of a random digital-analog fault and the occurrence of a computer numerical control machine tool are added on the basis of the general scheduling model of the rail-mounted automatic guided vehicle adopting two procedures.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention discusses the state of the RGV in each second of a shift according to the nearby principle of the RGV, establishes an RGV general scheduling model of a process which enables the CNC working efficiency to be optimal, and has wider application range.

2. The algorithm running time of the RGV circular scheduling model of the one process is far less than that of the general RGV scheduling model of the one process, so that the algorithm running time is greatly reduced.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below.

Description of the symbols

CNC refers to computer numerical controlled machine, RGV rail-type automatic guided vehicle, Res _ c refers to remaining operating time of the computer numerical controlled machine, Res _ rvg refers to remaining operating time of the rail-type automatic guided vehicle.

Example 1

A method of dynamic scheduling for an intelligent processing system, the intelligent processing system comprising: 8 computer numerical control machine tools, 1 rail type automatic guide vehicle, 1 feeding conveyor belt and 1 blanking conveyor belt,

the scheduling method when the intelligent processing system adopts one process to process comprises the following steps:

s1: initializing each variable; initializing coordinates of eight cnc tables to (11223344) initializing remaining operating times Res _ c of eight cnc machines and remaining operating times Res _ rvg of the tracked automated guided vehicle. The first loading sequence is 1-3-5-7-8-6-4-2 and Res _ c and Res _ rvg are obtained when loading is completed, and RGV coordinate is 1. From which data begins to simulate the operation of the processing system.

S2: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending; 1) and increasing the time t by one second, judging whether the rail-mounted automatic guided vehicle works at the time t, namely judging whether Res _ rvg is 0 or not, if Res _ rvg is not 0, self-decreasing by 1s and setting a flag bit flag1 of the rail-mounted automatic guided vehicle to 0, and if Res _ rvg is 0, setting a flag bit flag1 of the rail-mounted automatic guided vehicle to 1.

2) And judging whether eight machines work at time t, namely judging whether Res _ c arrays are not 0 at all, automatically subtracting 1 from Res _ c array elements which are not 0, wherein the coordinate is infinite, if Res _ c has 0 elements, setting a flag2 of the computer numerical control machine tool to be 1, setting the coordinate of the computer numerical control machine tool workbench which is Res _ c to be 0 to be a corresponding coordinate in the initial coordinate, and if not, completing the cycle and turning to the first step.

3) Judging whether the flag1 and the flag2 are both 1, if so, turning to the fourth step; if not, the loop is ended and the process is shifted to the first step.

4) And calculating the distance between the RVG and the finished computer numerical control machine tool workbench, and if the distance is 0, storing the number of the computer numerical control machine tool and the time t in the operation flow chart. Subtracting one from the working time to endow the residual working time Res _ c of the computer numerical control machine tool workbench, and setting a flag2 of the computer numerical control machine tool to be 0; if the distance is not 0, the fifth step is executed.

5) And moving the RVG to the nearest computer numerical control machine tool workbench by the calculated distance from each computer numerical control machine tool workbench, subtracting one from the moving time, endowing the RVG with the working time Res _ RVG, setting the flag bit flag1 of the rail-mounted automatic guided vehicle to be 0, and turning to the first step.

S3: after the circulation is finished, outputting an operation flow chart;

the scheduling method when the intelligent processing system adopts two working procedures for processing comprises the following steps:

s1: initializing each variable; the coordinates for initializing eight computer numerical control machine tool workbenches are (11223344), the residual working time Res _ c of the eight computer numerical control machine tools and the residual working time Res _ rvg of the rail-type automatic guide vehicle are initialized and marked, the initial coordinates of RGV are 1, a flag1 is a state flag bit of the rail-type automatic guide vehicle, a flag2 is a state flag bit of the computer numerical control machine tool workbench in the first process, a flag3 is a state flag bit of the computer numerical control machine tool workbench in the second process, a flag4 is a feeding state flag bit of whether the second process is carried out again, and the initial flag bits are all 0.

S2: obtaining the optimal ratio of two computer numerical control machine tool working tables according to the time for completing the first and second procedures, and starting to simulate the operation of a processing system by data;

s3: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

1) and increasing the time t by one second, judging whether the rail-mounted automatic guided vehicle works at the time t, namely judging whether Res _ rvg is 0 or not, if Res _ rvg is not 0, self-decreasing by 1s and setting the flag1 to 0, and if Res _ rvg is 0, setting the flag1 to 1.

2) Checking the working state of the nth computer numerical control machine tool at the time t, and if the computer numerical control machine tool workbench is the computer numerical control machine tool workbench of the first procedure, turning to the third step; if the computer numerical control machine tool workbench is the computer numerical control machine tool workbench of the second procedure, turning to the fourth step;

3) if the nth computer numerical control machine tool does not work, setting the flag2 to be 1, and setting the coordinates of the nth computer numerical control machine tool as corresponding coordinates in the initial coordinates. If the work is not finished, the working time of the nth computer numerical control machine tool is reduced by 1s, and the coordinate of the nth computer numerical control machine tool is set as a corresponding coordinate inf in the initial coordinate;

4) if the nth computer numerical control machine tool does not work, setting the flag3 to be 1, and setting the coordinates of the nth computer numerical control machine tool as corresponding coordinates in the initial coordinates. If the work is not finished, the working time of the nth computer numerical control machine tool is reduced by 1s, and the coordinate of the nth computer numerical control machine tool is set as a corresponding coordinate inf in the initial coordinate;

5) judging whether the flag1 is 1, if so, turning to the sixth step; if not, ending the circulation and turning to the first step;

6) judging whether the flag4 is 1, if yes, turning to the seventh step; if not, turning to the tenth step;

7) judging whether the flag3 is 1, if yes, turning to the eighth step; if not, ending the circulation and turning to the first step;

8) and calculating the distance between the RVG and the workbench of the computer numerical control machine tool, and if the distance is 0, storing the serial number of the computer numerical control machine tool and the time t at the moment into an operation flow chart. The rest working time Res _ c and the flag2 which are given to the computer numerical control machine tool workbench are reduced by one, and are set to be 0; if the distance is not 0, turning to the ninth step;

9) moving the RVG to the nearest computer numerical control machine tool workbench by the calculated distance between the RVG and each computer numerical control machine tool workbench, subtracting one from the moving time, endowing the RVG with the working time Res _ RVG, setting the flag1 to be 0, and turning to the first step;

10) judging whether the flag2 is 1, if so, turning to the eleventh step; if not, ending the circulation and turning to the first step;

11) calculating the distance between the RVG and the workbench of the computer numerical control machine tool, if the distance is 0, storing the number of the computer numerical control machine tool and the time t at the moment into an operation flow chart, subtracting one from the working time to endow the residual working time Res _ c of the workbench of the computer numerical control machine tool, setting the flag2 to be 0, and setting the flag4 to be 1; if the distance is not 0, turning to the ninth step;

s4: and (5) after the circulation is finished, outputting the operation flow table.

Example 2

On the basis of the example 1, the method comprises the following steps of,

when the intelligent processing system adopts a general scheduling model adopted in one-process processing, the shortest head-to-tail traversal is adopted for the first circle, so that the first computer numerical control machine tool does not wait when the second circle starts, the shortest traversal time of the first circle is obtained, the state of the rail-mounted automatic guided vehicle at each second in one shift is discussed according to the proximity principle of the rail-mounted automatic guided vehicle, and the rail-mounted automatic guided vehicle general scheduling model of one process which enables the computer numerical control machine tool to have the best working efficiency is established;

the highest working efficiency of the computer numerical control machine tool is taken as an objective function, namely the most occupied proportion of the working time of each computer numerical control machine tool is maximum:

the starting time of a computer numerical control machine tool is eight hours, so that:

T_m＝8*3600

the starting time of a computer numerical control machine tool is not less than the working time of the computer numerical control machine tool:

T_m＞n_mT_cm

to obtain the total number n of finished products machined by the mth computer numerical control machine tool in one shift_mIntroducing three 0-1 variables to respectively indicate whether the rail-mounted automatic guided vehicle works at the ith moment, whether the mth computer numerical control machine tool works at the ith moment and whether the distance between the rail-mounted automatic guided vehicle and the mth computer numerical control machine tool is 0 at the ith moment;

the moment that the rail type automatic guided vehicle and the computer numerical control machine tool are idle and the distance between the rail type automatic guided vehicle and the computer numerical control machine tool is 0 can be just rightAdding a processing material, so that the total number n of finished products processed by the mth computer numerical control machine tool in one shift is_mComprises the following steps:

because the task allocation of the computer numerical control machine tools of the system needs to be more balanced, the difference of the total number of processed finished products between any two computer numerical control machine tools is not too large, and the difference of the total number of processed finished products between any two computer numerical control machine tools is not more than 1 material;

|n_m-n_k|≤1

the general scheduling model is therefore:

the practicability of the one-process machining model and the effectiveness of the algorithm are as follows:

the established general RGV scheduling model of one process is suitable for all conditions of the one process because the states of the RGVs in each second of one shift are discussed according to the nearby principle of the RGVs, so the general RGV scheduling model of the one process has high practicability.

Although the application range of the established RGV circular scheduling model of one process is smaller than that of a general scheduling model, the algorithm running time of the RGV circular scheduling model of one process is far shorter than that of the RGV general scheduling model of one process by taking 8 hours as one shift. The comprehensive practicability of the RGV circular scheduling model of one process is higher.

The higher the working time of the CNC is in a shift, the more finished products are obtained, namely, the higher the operation efficiency of the CNC of the system is, and the higher the effectiveness of the algorithm is.

Comparing the CNC work efficiency of the RGV circular scheduling model of the first process with the CNC work efficiency of the general RGV scheduling model of the first process to obtain the system work efficiency of the two models, wherein the CNC work efficiency of the RGV circular scheduling model of the first process is shown in a table II, and the CNC work efficiency of the general RGV scheduling model of the first process is shown in a table I.

The operation efficiency of CNC of each procedure of the RGV general scheduling model of the first procedure obtained from the table is about 0.95, and the operation efficiency of CNC corresponding to the RGV circular scheduling model of the first procedure is about 0.92

The operation efficiency of CNC of each one step of the RGV general scheduling model of the second group of one step is about 0.87, and the operation efficiency of CNC corresponding to the RGV circulation scheduling model of one step is about 0.91

The CNC work efficiency of each procedure of the RGV general scheduling model of the third group of procedures obtained from the table is about 0.98, and the CNC work efficiency corresponding to the RGV circulation scheduling model of the first procedure is about 0.92

Table one: one-process general scheduling CNC operation efficiency table

Table two: one-process cycle scheduling CNC operation efficiency table

	CNC 1	CNC 2	CNC 3	CNC 4	CNC 5	CNC 6	CNC 7	CNC 8
									First group	0.9524	0.9165	0.9211	0.9165	0.9211	0.9165	0.9211	0.9211
Second group	0.9508	0.9091	0.9163	0.9091	0.9163	0.9091	0.9163	0.9163
									Third group	0.9528	0.9160	0.9237	0.9160	0.9237	0.9160	0.9237	0.9237

The number of the processed materials obtained by the RGV general scheduling model of the first parameter set procedure is 374, and the number of the processed materials obtained by the RGV circular scheduling model of the first parameter set procedure is 378.

The number of the finished products of the materials obtained by the general RGV scheduling model of the first procedure of the second group of parameters is 357, and the number of the finished products of the materials obtained by the RGV circular scheduling model of the first procedure of the second group of parameters is 362.

The number of the finished products of the materials obtained by the RGV general scheduling model of the third group of parameters in one process is 382, and the number of the finished products of the materials obtained by the RGV circular scheduling model of the third group of parameters in one process is 386.

Therefore, the operation efficiency of the RGV circular scheduling model CNC adopting one process is not different from that of the general RGV scheduling model CNC adopting one process, and is uniform. Compared with the general RGV scheduling model of one process, the number of finished products is more, and the operation time of the algorithm is shorter, so that the optimal solution is realized by adopting the RGV circular scheduling model of one process.

Example 3

On the basis of the embodiment, when the intelligent processing system adopts a circular scheduling model adopted in one-step processing, as the calculation of a general scheduling model is complex and only one processing step exists, circulation can exist under certain conditions in one shift;

the cycle when the computer numerical control machine tool has no waiting is as follows:

T＝T_a+T_Rj+T_mo

the cycle when waiting does not exist in the rail type automatic guided vehicle is as follows:

T_R＝T_m+4T_Rj+4T_Rw

due to T_RiAnd T_RwIs a parameter, so at T_mIs the shortest time T_RIt is minimal.

Solving for T in the loop_mMinimum value, introducing a 0-1 flag variable X_ijIndicating whether to move from the ith cnc machine to the jth cnc machine (i, j ═ 1 … … 8, i ≠ j), S_ijRepresenting a distance matrix between 8 computer numerical control machines;

so T_mExpressed as:

because of being a cycle, each computer numerical control machine tool only has one time as an end point in one cycle, and one time as a starting point:

so solving for T in the loop_mThe minimum model is:

solving the optimal path is: 1-3-5-7-8-6-4-2;

at this time T_moHas a value of 0 or t₁；

Circulation T without waiting for computer numerical control machine tool and circulation T without waiting for rail type automatic guided vehicle_RAre all minimum values, so the cycle found in this case is optimal;

the circulation which takes 1-3-5-7-8-6-4-2 as a circulating path meets the condition.

T＝T_a+T_Rj+T_mo

T_R＝T_m+4T_Rj+4T_Rw

In order to improve the efficiency of the computer numerical control machine tool, the waiting time of the computer numerical control machine tool in the circulation is reduced as much as possible;

at T > T_RThe method comprises the following steps:

the waiting time of the computer numerical control machine tool is as follows:

T_d＝3T_Rj+4T_Rw-6T_mo

the waiting time of the rail type automatic guided vehicle is as follows:

T_D＝T-T_R

time of flight

Because the computer numerical control machine tool does not have the removal waiting time T_dExtra latency, so a loop holds;

the method comprises the following steps:

when T is_d＜T_DThe time cycle exists, that is, the waiting time of the computer numerical control machine tool is not at T_dThere is an extra latency.

Example 4

On the basis of embodiment 1, further, when the intelligent processing system adopts a dynamic scheduling model adopted in two-step processing, the computer numerical control machine tool needs to process the time required for completing the first step of a two-step material and the time required for completing the second step of the two-step material, so that the number of the computer numerical control machine tools in the first step and the number of the computer numerical control machine tools in the second step in 8 computer numerical control machines are not necessarily equal and are proportionally distributed:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the highest working efficiency of the computer numerical control machine tool is taken as an objective function, namely the proportion of the working time of each computer numerical control machine tool is the largest:

the starting time of a computer numerical control machine tool is eight hours, so that:

T_m＝8*3600

the starting time of a computer numerical control machine tool is not less than the working time of the computer numerical control machine tool:

T_m＞n_mT_cm

to obtain the total number n of finished products machined by the mth computer numerical control machine tool in one shift_mThree 0-1 mark variables are introduced to respectively indicate whether the rail-mounted automatic guided vehicle works at the ith moment, whether the mth computer numerical control machine tool works at the ith moment and whether the distance between the rail-mounted automatic guided vehicle and the mth computer numerical control machine tool is 0 at the ith moment.

The processing material is just added at the moment that the rail type automatic guiding vehicle and the computer numerical control machine tool are idle and the distance between the rail type automatic guiding vehicle and the computer numerical control machine tool is 0, so that the total number n of finished products processed by the mth computer numerical control machine tool in one class is n_mComprises the following steps:

because the task allocation of the computer numerical control machine tools of the system needs to be more balanced, the difference of the total number of processed finished products between any two computer numerical control machine tools is not too large, and the difference of the total number of processed finished products between any two computer numerical control machine tools is not more than 1 material;

|n_m-n_k| < 1(m, k is CNC processing same working procedure)

The general scheduling model is therefore:

the established two-procedure RGV general scheduling model is suitable for all situations of the two procedures because the states of the RGVs in each second of a shift are discussed according to the nearby principle of the RGVs, so the practicality of the two-procedure RGV general scheduling model is high.

The working time of the CNC is higher in proportion in a shift, the number of obtained finished products is more, namely the working efficiency of the system is higher, the CNC working efficiency of the system is used for representing the effectiveness of the algorithm, the general RGV scheduling model CNC working efficiency of the two processes is shown in the table III, the first group of CNC needing 4 first processes, the second group of CNC needing 4 second processes, the second group of CNC needing 3 first processes and the second group of CNC needing 5 second processes are solved; the first group requires 6 CNC of the first pass and 2 CNC of the second pass.

The operation efficiency of the CNC of each first process of the first group is about 0.90, and the operation efficiency of the CNC of each second process is about 0.84

The table shows that the operation efficiency of the CNC of each step of the second group is about 0.81, and the operation efficiency of the CNC of each step of the second group is about 0.85.

The operation efficiency of the CNC of each step of the third group obtained from the table is about 0.80, and the operation efficiency of the CNC of each step of the second group obtained from the table is about 0.78.

Table three: CNC operation efficiency table of two-process scheduling model

The CNC6 job efficiency for the third set of data was 0.158, demonstrating that there was substantially no farm dispatch.

Because of T_b＝455，T_c＝182，5*T_c＝2*T_b＝910。

The participation of the CNC6 is low, so the gap between the CNC6 and the finished products which are not participated in is not big.

Example 5

On the basis of the embodiment 1, the intelligent processing system adopts a process to process, and the method for solving the dynamic scheduling model of the rail-mounted automatic guided vehicle when the computer numerical control machine tool has faults comprises the following steps:

step 1: initializing each variable;

step 2: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

step 3: after the circulation is finished, outputting an operation flow chart;

the general scheduling model of the rail type automatic guided vehicle processed in one process when the computer numerical control machine tool has faults is as follows:

the dynamic scheduling model of the rail type automatic guided vehicle processed in one process when the computer numerical control machine tool has faults is as follows:

the computer numerical control machine tool processes the time required for finishing the first procedure of a two-procedure material and the time required for finishing the second procedure of a two-procedure material, so the number of the computer numerical control machine tools of the first procedure and the number of the computer numerical control machine tools of the second procedure in 8 computer numerical control machine tools are not always equal and are distributed in proportion:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the general scheduling model is therefore:

the established RGV general scheduling model of one process is suitable for all conditions of one process in which the CNC has faults, and the practicality of the RGV general scheduling model of one process in which the CNC has faults is high.

The higher the proportion of the working time of the CNC in the shift is, the more finished products are obtained, namely the higher the working efficiency of the system is, so that the effectiveness of the algorithm is expressed by the CNC working efficiency of the system, and the CNC working efficiency of the general RGV scheduling model of one process with a fault in the CNC is expressed in a table IV.

The CNC operation efficiency of each one-step CNC of the RGV dynamic scheduling model processed by the first step with faults can be obtained from the table, and is about 0.91.

The CNC operation efficiency of each one-step CNC of the RGV dynamic scheduling model processed by the second group of one-step with fault is about 0.88.

The CNC operation efficiency of each one-step process of the RGV dynamic scheduling model processed by the third group of one-step process with faults is about 0.90.

Table four: one-process model CNC operation efficiency table with faults in CNC

	CNC 1	CNC 2	CNC 3	CNC 4	CNC 5	CNC 6	CNC 7	CNC 8
									First group	0.9139	0.8944	0.9139	0.8944	0.8944	0.9139	0.9139	0.9139
Second group	0.9264	0.8861	0.8861	0.8458	0.9063	0.9063	0.9063	0.9063
									Third group	0.9083	0.9083	0.9083	0.9083	0.8894	0.9083	0.9083	0.8705

Example 6

On the basis of the embodiment 1, the intelligent processing system adopts two working procedures to process, and the method for solving the dynamic scheduling model of the rail-mounted automatic guided vehicle when the computer numerical control machine tool has faults comprises the following steps:

step 1: initializing each variable;

step 3: starting a cycle with respect to time t starting from time t0 when eight computer numerical control machines are completed to 8 × 60s ending;

step 4: after the circulation is finished, outputting an operation flow chart;

the dynamic scheduling model of the rail type automatic guided vehicle processed by two working procedures with faults of the computer numerical control machine tool is as follows:

the computer numerical control machine tool processes the time required for finishing the first procedure of a two-procedure material and the time required for finishing the second procedure of a two-procedure material, so the number of the computer numerical control machine tools of the first procedure and the number of the computer numerical control machine tools of the second procedure in 8 computer numerical control machine tools are not always equal and are distributed in proportion:

min(BT_c-CT_b)²

s.t B+C＝8(B，C＝1......7)

the general scheduling model is therefore:

the first group of CNC that needs 4 first processes of solving out needs the CNC of 4 second processes, and the second group needs the CNC of 3 first processes, needs the CNC of 5 second processes, and the first group needs the CNC of 6 first processes, needs the CNC of 2 second processes.

The operation efficiency of the CNC of each first process of the first group is about 0.92, and the operation efficiency of the CNC of each second process is about 0.86

The table shows that the operation efficiency of the CNC of each step of the second group is about 0.80, and the operation efficiency of the CNC of each step of the second group is about 0.85.

The table shows that the operation efficiency of the CNC of each step of the third group is about 0.79, and the operation efficiency of the CNC of each step of the second group is about 0.78.

Table five: CNC (computerized numerical control) operation efficiency meter with fault for two process models

	CNC 1	CNC 2	CNC 3	CNC 4	CNC 5	CNC 6	CNC 7	CNC 8
									First group	0.9306	0.9167	0.9306	0.9167	0.8794	0.8662	0.8662	0.8269
Second group	0.8069	0.7972	0.8069	0.8333	0.8681	0.8333	0.8681	0.8507
									Third group	0.8057	0.8057	0.8531	0.7899	0.7741	0.0158	0.7899	0.7863

The CNC6 job efficiency for the third set of data was 0.158, demonstrating that there was substantially no farm dispatch.

Because of T_b＝455，T_c＝182，5*T_c＝2*T_b＝910。

Because of the low participation of the CNC6, the gap between the participation and non-participation of the CNC6 in the finished product is not great.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.