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An rgv dynamic scheduling method for nonlinear programming

A non-linear programming and dynamic scheduling technology, applied in control/regulation systems, program control, instruments, etc., can solve problems such as unsmooth connection, time-consuming, lag in work progress, etc., to improve practicability, wide application, and flexible use. Effect

Active Publication Date: 2021-04-20
TAIZHOU UNIV
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  • Claims
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Problems solved by technology

[0004] The invention solves the problems in the prior art that the RGV scheduling strategy is relatively simple, and when dealing with a relatively complex intelligent processing system, it is prone to errors, time-consuming, and cannot complete the system work well, resulting in lagging work progress and unsmooth connection. An optimized non-linear programming RGV dynamic scheduling method is provided

Method used

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  • An rgv dynamic scheduling method for nonlinear programming
  • An rgv dynamic scheduling method for nonlinear programming
  • An rgv dynamic scheduling method for nonlinear programming

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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with the examples, but the protection scope of the present invention is not limited thereto.

[0038] The present invention relates to a non-linear programming RGV dynamic scheduling method. There are two situations. When the materials of one process are processed, any CNC can process them; when the materials of two processes are processed, the first The first and second processes need to be processed sequentially by two different CNCs.

[0039] The method includes the following steps.

[0040] Step 1: Start with {H 1 , H 2 ,...,H m} respectively correspond to the set of machine tools that execute the mth process; {H 1 , H 2 ,...,H m} initialization, satisfy H 1 ∪H 2 ∪…∪H m ={CNC j #|j=1, 2, ..., N} and there is no intersection between any two sub-sets, where j is the index of the machine tool, N is the total number of machine tools, and N is an even number; take k as the process in...

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Abstract

The invention relates to a non-linear planning RGV dynamic scheduling method, which calculates the path set of RGV from the previous process to the next process L , set the primary objective function to minimize the quantity difference between the previous process and the subsequent process per unit time, set the secondary objective function to minimize the sum of the total time of quantitative materials from the previous process to the subsequent process, and use a non-empty subset for transfer, Based on the simulated annealing algorithm, the machine tool number of the execution process is obtained, and the total time required for moving, cleaning, loading and unloading and waiting for the RGV is analyzed respectively, and the nonlinear programming model is established with the minimum total working time for processing a fixed number of materials as the objective function. The present invention can be popularized and applied to most dynamic scheduling problems; the problem is simplified, the operation is more convenient, the optimal scheduling scheme is convenient to be obtained, and the practicability of the model is improved; the simulated annealing algorithm is used to solve the dynamic scheduling problem of RGV, which is simple and flexible to use , is widely used and is less constrained by the initial conditions.

Description

technical field [0001] The present invention relates to a general control or regulation system; the functional unit of this system; the technical field of a monitoring or testing device for this system or unit, and particularly relates to a non-linear programming RGV dynamic scheduling method. Background technique [0002] RGV, the English abbreviation of Rail Guided Vehicle, can be used in various high-density storage warehouses. It can automatically control the direction and distance of movement according to instructions, and generally comes with a robotic arm and two robotic claws. And the material cleaning tank can complete the tasks of loading and unloading and cleaning materials; the trolley passage can be designed to be arbitrarily long to increase the storage capacity of the entire warehouse, and there is no need for forklifts to drive into the roadway during operation, which has high safety and effectively improves the operating efficiency of the warehouse. [0003]...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/4065
CPCG05B19/4065G05B2219/37616
Inventor 李光伟夏志乐胡慧敏王蒙蒙
Owner TAIZHOU UNIV
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