技术领域technical field
本发明总体上涉及智能控制技术领域，更具体地涉及一种生产线的控制系统及其控制方法。The present invention generally relates to the technical field of intelligent control, and more specifically relates to a control system of a production line and a control method thereof.
背景技术Background technique
随着经济的快速发展和人们消费水平的显著提高，社会对产品的多样化、低制造成本和短制造周期等需求日益迫切，市场上更加需要具有特色、满足用户要求的个性化、定制化产品。为了应对这一变革，基于各种柔性制造技术的柔性制造系统或生产线(FlexibleManufacturing System，FMS)便应运而生。With the rapid development of the economy and the significant improvement of people's consumption level, the society's demand for product diversification, low manufacturing cost and short manufacturing cycle is becoming increasingly urgent, and the market needs more personalized and customized products with characteristics and meeting user requirements. . In order to cope with this change, a flexible manufacturing system or production line (Flexible Manufacturing System, FMS) based on various flexible manufacturing technologies has emerged.
柔性生产线通常由加工设备、辅助设备、产线控制系统及相关存储库组成。图1为一种典型柔性生产线，包括：物料机器人(1)，负责物料的搬运，机床的上下料，物料库的立体库存放；物料立体库(2)，用于存放未加工的物料和已加工的工件；刀具机械手(3)，负责刀库刀具的调度，机床的上下刀；立体刀库(4)，用于存放产线的刀具，包括姊妹刀，机床装不下的刀具；机床组(5)，产线的主体，一组加工中心；产线控制系统(6)，产线的大脑，对工单进行排产，对产线所有要素进行管理。A flexible production line usually consists of processing equipment, auxiliary equipment, production line control system and related storage. Figure 1 is a typical flexible production line, including: material robot (1), responsible for material handling, loading and unloading of machine tools, three-dimensional storage of material warehouse; material three-dimensional warehouse (2), used to store unprocessed materials and processed materials The workpiece to be processed; the tool manipulator (3) is responsible for the scheduling of the tool magazine and the upper and lower knives of the machine tool; the three-dimensional tool magazine (4) is used to store the knives of the production line, including sister knives, and knives that cannot be loaded on the machine tool; the machine tool group ( 5), the main body of the production line is a group of processing centers; the production line control system (6), the brain of the production line, schedules work orders and manages all elements of the production line.
由于无人产线、关灯工厂等的兴起，要求柔性生产线能够自主完成从工单、工艺信息的录入到工件完成的整个过程，中途不需要或极少需要人工的干预，同时也要求产线能够按照最优目标的方案进行生产，把这种产线称为柔性智能生产线。图2示出了根据相关技术的柔性智能生产线输入输出分析图。参见图2，柔性智能生产线接收的输入信息包括工艺信息、物料、工单等，在输出侧直接输出成品。Due to the rise of unmanned production lines and light-off factories, etc., it is required that the flexible production line can independently complete the entire process from the entry of work orders and process information to the completion of the workpiece, with no or very little manual intervention in the middle, and the production line is also required It can produce according to the optimal target plan, and this kind of production line is called flexible intelligent production line. Fig. 2 shows an analysis diagram of input and output of a flexible intelligent production line according to related technologies. Referring to Figure 2, the input information received by the flexible intelligent production line includes process information, materials, work orders, etc., and the finished product is directly output on the output side.
生产线控制系统是柔性智能生产线的大脑，负责工单的排产、刀具的调度、物料的调度、机床的控制以及其它设备的控制。图3为生产线控制系统的功能说明框图，如，大体可以分为两大块，一个是规划能力，另一个是调度能力。The production line control system is the brain of the flexible and intelligent production line, responsible for the scheduling of work orders, scheduling of tools, scheduling of materials, control of machine tools and control of other equipment. Figure 3 is a functional block diagram of the production line control system. For example, it can be roughly divided into two parts, one is the planning capability and the other is the scheduling capability.
调度能力指生产线控制系统控制底层硬件设备动作的能力。图4为一种生产线控制系统控制底层设备的技术方案，在图4中NC代表数控机床(例如NC1、NC2、NC3、NC4等)，智能总控系统(IPC)通过局域网(LANs)基于NC-API(TCP/IP)对其进行控制；图4中RC代表机械手(例如RC1、RC2等)，其与读卡器(RFID)是智能总控系统(IPC)通过MODBUS网络基于TCP/IP控制现场控制系统(PLC)，PLC再控制机械手与RFID动作。另外，常用的柔性产线底层硬件还有检测机、二维码打印机……等。Scheduling capability refers to the ability of the production line control system to control the actions of underlying hardware devices. Figure 4 is a technical solution for controlling the underlying equipment of a production line control system. In Figure 4, NC stands for CNC machine tools (such as NC1, NC2, NC3, NC4, etc.), and the intelligent master control system (IPC) is based on NC- API (TCP/IP) controls it; in Figure 4, RC represents the manipulator (such as RC1, RC2, etc.), and the card reader (RFID) is an intelligent master control system (IPC) that controls the scene based on TCP/IP through the MODBUS network Control system (PLC), PLC controls the manipulator and RFID action. In addition, the commonly used underlying hardware of flexible production lines includes inspection machines, QR code printers, etc.
生产线控制系统是通过发送相应指令控制底层硬件设备动作的，生产线控制系统根据输入的工单，结合产线资源状况和工艺路线对其进行排产，然后生成指令，控制硬件进行生产。The production line control system controls the action of the underlying hardware equipment by sending corresponding instructions. The production line control system schedules production according to the input work order, combined with the production line resource status and process route, and then generates instructions to control the hardware for production.
传统的产线控制系统在发送指令控制底层设备动作流程中，主要存在以下问题：The traditional production line control system mainly has the following problems when sending instructions to control the action process of the underlying equipment:
(1)产线控制系统需要具备管理刀具、管理物料、动态排产、控制各项硬件动作等功能，在传统的产线控制系统中，如此多的功能集中在一起，造成了控制系统体量庞大，不利于系统稳定性和维护工作。(1) The production line control system needs to have functions such as tool management, material management, dynamic production scheduling, and control of various hardware actions. In the traditional production line control system, so many functions are concentrated together, resulting in the volume of the control system Huge, not conducive to system stability and maintenance work.
(2)在传统的产线控制系统中，当一个指令下发到具体设备时，如果此设备出现问题，导致该动作无法正常完成，则产线后续动作可能都无法进行下去。这样的后果就是因为单点的故障而导致整个产线的不可用。比如下发指令控制1号机械手“将27号物料搬运至3号机床”，如果1号机械手出现问题，物料无法送至3号机床，则后续的“27号物料”相关指令：如加工、打码等操作都无法再继续进行。(2) In the traditional production line control system, when an instruction is sent to specific equipment, if there is a problem with the equipment, resulting in the failure to complete the action normally, the subsequent actions of the production line may not be able to continue. The consequence of this is that the entire production line is unavailable due to a single point of failure. For example, issue an instruction to control No. 1 manipulator to "transfer No. 27 material to No. 3 machine tool". If there is a problem with No. 1 manipulator and the material cannot be sent to No. 3 machine tool, the subsequent "No. Code and other operations cannot continue.
(3)在传统的产线控制系统中，控制系统要控制底层硬件动作，就要下发硬件能够识别的指令，通常不同型号、不同版本的设备其控制指令也会有差异。这样导致的后果是产线控制系统要根据底层硬件的不同而作出改变，该控制系统就不具有移植性和硬件无关性。在实际生产中，如果硬件层改变，如硬件升级、硬件系统升级或增加设备，都要求对控制系统作出更改，改动控制系统是一个大工程，这样大大增加成本，并不利于此类柔性产线的量产。(3) In the traditional production line control system, in order to control the actions of the underlying hardware, the control system must issue instructions that the hardware can recognize. Usually, different models and versions of equipment have different control instructions. The result of this is that the production line control system needs to be changed according to the underlying hardware, and the control system is not portable and hardware-independent. In actual production, if the hardware layer changes, such as hardware upgrades, hardware system upgrades, or adding equipment, changes to the control system are required. Changing the control system is a large project, which greatly increases costs and is not conducive to this type of flexible production line. mass production.
发明内容Contents of the invention
为了解决上述问题，本发明提供了一种生产线控制系统及其控制方法。In order to solve the above problems, the present invention provides a production line control system and a control method thereof.
根据本发明的一个方面，本发明实施例提供了一种生产线的控制系统，包括：多个控制子系统，用于分别控制与各个控制子系统相对应的设备；指令派发器，根据规范指令的类型将所述规范指令分配给所述多个控制子系统中与所述类型相对应的控制子系统。According to one aspect of the present invention, an embodiment of the present invention provides a control system for a production line, including: a plurality of control subsystems, used to respectively control the equipment corresponding to each control subsystem; The type assigns the specification instruction to the control subsystem corresponding to the type among the plurality of control subsystems.
优选地，所述的生产线控制系统还包括：指令解释器，将所述控制子系统下发的所述规范指令解释为相应的控制指令。Preferably, the production line control system further includes: an instruction interpreter, which interprets the specification instructions issued by the control subsystem into corresponding control instructions.
优选地，所述指令解释器还能够从相对应的所述设备获取反馈指令信息，以获得所述设备的状态信息。Preferably, the command interpreter can also obtain feedback command information from the corresponding device, so as to obtain status information of the device.
优选地，当所述设备的状态信息显示所述设备无法完成与所述控制指令相对应的动作时，所述指令解释器能够寻找生产线上空闲的与所述设备同类的其他设备，以完成与所述控制指令相对应的动作。Preferably, when the status information of the device shows that the device cannot complete the action corresponding to the control instruction, the instruction interpreter can find other devices of the same type as the device that are idle on the production line to complete the action corresponding to the control instruction. Actions corresponding to the control instructions.
优选地，当所述反馈指令信息显示所述设备在预定时间内没有进行与所述控制指令相对应的动作时，所述指令解释器确定所述设备无法完成与所述控制指令相对应的动作。Preferably, when the feedback instruction information shows that the device does not perform the action corresponding to the control instruction within a predetermined time, the instruction interpreter determines that the device cannot complete the action corresponding to the control instruction .
优选地，所述指令解释器能够将所述反馈指令信息反馈给与其相对应的控制子系统。Preferably, the instruction interpreter can feed back the feedback instruction information to its corresponding control subsystem.
优选地，所述控制子系统将所述反馈指令信息反馈给所述指令派发器。Preferably, the control subsystem feeds back the feedback instruction information to the instruction dispatcher.
优选地，所述控制子系统还能够接收所述设备的反馈指令信息，以获得所述相应设备的状态。Preferably, the control subsystem is also capable of receiving feedback instruction information from the device to obtain the state of the corresponding device.
优选地，当所述设备的状态显示所述设备无法完成与所述控制指令相对应的动作时，所述控制子系统能够寻找所述生产线上空闲的与所述设备同类的其他设备，以完成与所述控制指令相对应的动作。Preferably, when the state of the equipment shows that the equipment cannot complete the action corresponding to the control instruction, the control subsystem can find other equipment of the same type as the equipment that is idle on the production line to complete An action corresponding to the control instruction.
优选地，当所述反馈指令信息显示所述设备在预定时间内没有进行与所述控制指令相对应的动作时，所述控制子系统能够确定所述设备无法完成与所述控制指令相对应的动作。Preferably, when the feedback command information shows that the device does not perform an action corresponding to the control command within a predetermined time, the control subsystem can determine that the device cannot complete the action corresponding to the control command. action.
优选地，所述指令派发器从数据库中读取所述规范指令。Preferably, the instruction dispatcher reads the specification instruction from a database.
优选地，所述指令派发器、所述控制子系统和/或所述指令解释器向其下一层级下发指令时能够收到各自所述下一层级的反馈指令信息，以获得所述下一层级对指令的完成状态信息。Preferably, when the instruction dispatcher, the control subsystem and/or the instruction interpreter issue instructions to their lower levels, they can receive the feedback instruction information of the respective lower levels, so as to obtain the lower level A level of information about the completion status of the instruction.
优选地，所述控制子系统和/或所述指令解释器与每一类型设备一一对应。Preferably, the control subsystem and/or the instruction interpreter corresponds to each type of equipment one by one.
优选地，所述多个控制子系统并行运行，并分别控制与其相对应的设备的动作。Preferably, the plurality of control subsystems run in parallel, and respectively control the actions of the corresponding devices.
本发明的另一方面还提供一种生产线的控制方法，包括：指令派发器获取规范指令；根据所述规范指令的类型，所述指令派发器将所述规范指令分配给多个控制子系统中与所述类型相对应的控制子系统，以用于控制相应设备的动作。Another aspect of the present invention also provides a control method for a production line, including: an instruction dispatcher acquires a specification instruction; according to the type of the specification instruction, the instruction dispatcher distributes the specification instruction to a plurality of control subsystems A control subsystem corresponding to the type used to control the actions of the corresponding equipment.
优选地，所述相对应的控制子系统将所述规范指令下发至相应的指令解释器，所述相应的指令解释器将所述规范指令解释为相应的控制指令，以用于控制所述相应设备的动作。Preferably, the corresponding control subsystem issues the specification instruction to a corresponding instruction interpreter, and the corresponding instruction interpreter interprets the specification instruction as a corresponding control instruction for controlling the The action of the corresponding device.
优选地，所述相应的指令解释器接收所述相应设备的反馈指令信息，以获得所述相应设备的状态信息。Preferably, the corresponding command interpreter receives the feedback command information of the corresponding device to obtain the state information of the corresponding device.
优选地，当所述相应设备的状态信息显示所述相应设备无法完成与所述控制指令相对应的动作时，所述相应的指令解释器寻找所述生产线上空闲的与所述相应设备同类的其他设备。Preferably, when the state information of the corresponding equipment shows that the corresponding equipment cannot complete the action corresponding to the control instruction, the corresponding instruction interpreter searches for an idle on the production line of the same type as the corresponding equipment. other devices.
优选地，当所述反馈指令信息显示所述相应设备在预定时间内没有进行与所述控制指令相对应的动作时，所述相应的指令解释器确定所述相应设备无法完成与所述控制指令相对应的动作。Preferably, when the feedback command information shows that the corresponding device does not perform an action corresponding to the control command within a predetermined time, the corresponding command interpreter determines that the corresponding device cannot complete the action corresponding to the control command. corresponding action.
优选地，所述相应的指令解释器将所述反馈指令信息反馈至所述相对应的控制子系统。Preferably, the corresponding command interpreter feeds back the feedback command information to the corresponding control subsystem.
优选地，所述相应的控制子系统将所述反馈指令信息反馈至所述指令派发器。Preferably, the corresponding control subsystem feeds back the feedback command information to the command dispatcher.
优选地，所述相对应的控制子系统还接收所述相应设备的反馈指令信息，以获得所述相应设备的状态信息。Preferably, the corresponding control subsystem also receives feedback instruction information from the corresponding equipment to obtain state information of the corresponding equipment.
优选地，当所述相应设备的状态信息显示所述相应设备无法完成与所述控制指令相对应的动作时，所述相对应的控制子系统寻找所述生产线上空闲的与所述相应设备同类的其他设备。Preferably, when the status information of the corresponding equipment shows that the corresponding equipment cannot complete the action corresponding to the control instruction, the corresponding control subsystem searches for an idle device of the same type as the corresponding equipment on the production line other equipment.
优选地，当所述反馈指令信息显示所述相应设备在预定时间内没有进行与所述控制指令相对应的动作时，所述相对应的控制子系统确定所述相应设备无法完成与所述控制指令相对应的动作。Preferably, when the feedback instruction information shows that the corresponding device does not perform an action corresponding to the control instruction within a predetermined time, the corresponding control subsystem determines that the corresponding device cannot complete the action related to the control The action corresponding to the command.
优选地，所述相对应的控制子系统还将所收到的所述相应设备的反馈指令信息反馈给所述指令派发器。Preferably, the corresponding control subsystem also feeds back the received feedback instruction information of the corresponding equipment to the instruction dispatcher.
优选地，当所述指令派发器将所述规范指令派发给所述相对应的控制子系统时，从所述相对应的控制子系统接收反馈指令信息，以获取所述相对应的控制子系统完成所述规范指令的状态信息。Preferably, when the instruction dispatcher dispatches the specification instruction to the corresponding control subsystem, it receives feedback instruction information from the corresponding control subsystem, so as to obtain the corresponding control subsystem Status information for the completion of the specification instruction.
优选地，当所述相对应的控制子系统将所述规范指令下发给所述相应的指令解释器时，从所述相应的指令解释器接收反馈指令信息，以获取所述相应的指令解释器完成所述规范指令的状态信息。Preferably, when the corresponding control subsystem issues the specification instruction to the corresponding instruction interpreter, it receives feedback instruction information from the corresponding instruction interpreter to obtain the corresponding instruction interpretation to complete the status information of the specification instruction.
优选地，所述指令派发器从数据库中读取所述规范指令。Preferably, the instruction dispatcher reads the specification instruction from a database.
优选地，所述指令派发器将所述反馈指令信息发送至数据库中予以存储。Preferably, the instruction dispatcher sends the feedback instruction information to a database for storage.
优选地，所述多个控制子系统并行运行，并分别控制与其相对应的设备的动作。Preferably, the plurality of control subsystems run in parallel, and respectively control the actions of the corresponding devices.
本发明的另一方面还提供一种用以存储处理器可执行指令的计算机可读存储介质，所述计算机可读存储介质中存储的处理器可执行指令在被执行时能够致使处理器实施上述生产线控制方法。Another aspect of the present invention also provides a computer-readable storage medium for storing processor-executable instructions, the processor-executable instructions stored in the computer-readable storage medium, when executed, can cause a processor to implement the above-mentioned Production line control methods.
本发明的另一方面还提供一种计算机设备，包括如上所述的计算机可读存储介质以及处理器，所述处理器能够执行所述计算机可读存储介质中存储的处理器可执行指令。Another aspect of the present invention also provides a computer device, including the above-mentioned computer-readable storage medium and a processor, where the processor is capable of executing processor-executable instructions stored in the computer-readable storage medium.
本发明提供一种结合分布式和解释执行的产线控制系统及其控制方法，解决了产线控制系统的控制指令平台相关性、下发系统庞大、不具备高可用性等问题，增加了产线控制系统的精确性、稳定性和移植性，便于柔性产线量产，也使柔性产线具备高可用性。The invention provides a production line control system and its control method combining distributed and interpreted execution, which solves the problems of the control command platform correlation of the production line control system, the distribution system is huge, and does not have high availability, and increases the production line. The accuracy, stability and portability of the control system facilitate the mass production of flexible production lines, and also enable flexible production lines to have high availability.
附图说明Description of drawings
通过下面结合附图说明本发明的优选实施例，将使本发明的上述及其它目标、特征和优点更加清楚，其中：The above-mentioned and other objectives, features and advantages of the present invention will be made clearer by describing preferred embodiments of the present invention in conjunction with the accompanying drawings below, wherein:
图1示出了现有技术中典型柔性生产线的示意图；Figure 1 shows a schematic diagram of a typical flexible production line in the prior art;
图2示出了现有技术中柔性智能生产线输入输出分析图；Fig. 2 shows the input and output analysis diagram of the flexible intelligent production line in the prior art;
图3示出了现有技术中生产线控制系统的规划和调度架构示意图；Fig. 3 shows a schematic diagram of the planning and scheduling architecture of the production line control system in the prior art;
图4示出了现有技术中产线控制系统控制底层设备的技术方案；Fig. 4 shows the technical solution of the production line control system controlling the bottom equipment in the prior art;
图5示出了本发明一个实施例的分布式生产线控制指令下发架构示意框图；FIG. 5 shows a schematic block diagram of a distributed production line control instruction delivery architecture according to an embodiment of the present invention;
图6示出了本发明一个实施例的生产线控制方法的示意性流程图；FIG. 6 shows a schematic flowchart of a production line control method according to an embodiment of the present invention;
图7示出了本发明一个实施例的指令派发器分发规范指令的过程示例；FIG. 7 shows an example of the process of distributing specification instructions by the instruction dispatcher according to an embodiment of the present invention;
图8示出了本发明的生产线控制方法的中步骤S605处理反馈指令信息示意性流程图Fig. 8 shows a schematic flowchart of processing feedback instruction information in step S605 of the production line control method of the present invention
图9示出了本发明一个实施例的生产线控制方法的另一示意性流程图；FIG. 9 shows another schematic flow chart of a production line control method according to an embodiment of the present invention;
图10示出了本发明一个实施例的指令解释器解释规范指令的过程示例；Fig. 10 shows an example of the process of an instruction interpreter interpreting a specification instruction according to an embodiment of the present invention;
图11示出了本发明一个实施例的生产线控制方法的另一示意性流程图；Fig. 11 shows another schematic flowchart of a production line control method according to an embodiment of the present invention;
图12示出了本发明一个实施例的生产线控制方法的另一示意性流程图。Fig. 12 shows another schematic flow chart of a production line control method according to an embodiment of the present invention.
在本发明的所有附图中，相同或相似的结构均以相同或相似的附图标记标识。In all the drawings of the present invention, the same or similar structures are identified by the same or similar reference numerals.
具体实施方式Detailed ways
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能解释为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，当我们称元件被“连接”到另一元件时，它可以直接连接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”可以包括无线连接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的全部或任一单元和全部组合。Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and/or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Additionally, "connection" as used herein may include wireless connections. The expression "and/or" used herein includes all or any elements and all combinations of one or more associated listed items.
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样被特定定义，否则不会用理想化或过于正式的含义来解释。Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this invention belongs. It should also be understood that terms, such as those defined in commonly used dictionaries, should be understood to have meanings consistent with their meaning in the context of the prior art, and unless specifically defined as herein, are not intended to be idealized or overly Formal meaning to explain.
为解决上述技术问题，本发明提供了一种生产线控制机制，其基于分布式原理，将产线控制指令分布式下发各控制子系统，使得控制指令与硬件类型相关，使得控制系统变得精简。In order to solve the above-mentioned technical problems, the present invention provides a production line control mechanism, which is based on the principle of distribution, distributes the production line control instructions to each control subsystem, makes the control instructions related to the hardware type, and makes the control system more streamlined .
图5示出了根据本发明一个实施例的分布式生产线控制指令下发架构示意框图。如图5所示，分布式生产线控制指令下发架构包括生产线控制系统和设备层54，其中上述生产线控制系统包括指令派发器51、控制子系统52等模块，上述设备层54包括第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n等多种类型的设备。上述控制子系统52包括第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n等多个控制子系统，用于控制上述设备层54的多种类型设备中对应类型设备的动作。例如，上述第一控制子系统521用于控制上述第一类型设备541、上述第二控制子系统522用于控制上述第二类型设备542、上述第三控制子系统523用于控制上述第三类型设备543等，上述第一类型设备541可以包括多个同类型设备(第一类型设备5411～541m)、上述第二类型设备542可以包括多个同类型设备(第一类型设备5421～542m)、上述第三类型设备543可以包括多个同类型设备(第三类型设备5431～543m)等，其中每一同类型设备中，各设备(比如第一类型设备5411～541m)可以同时运行，或者当其中一台设备(比如第一类型设备5411)运行时，其他同类设备中的一台或多台设备(比如第一类型设备5412～541m)可以作为该台在运行中的设备的备用设备。Fig. 5 shows a schematic block diagram of a distributed production line control instruction delivery architecture according to an embodiment of the present invention. As shown in FIG. 5 , the distributed production line control instruction issuing framework includes a production line control system and an equipment layer 54, wherein the above-mentioned production line control system includes modules such as an instruction dispatcher 51 and a control subsystem 52, and the above-mentioned equipment layer 54 includes the first type of equipment 541, the second type device 542, the third type device 543, ..., the nth type device 54n and other types of devices. The above-mentioned control subsystem 52 includes multiple control subsystems such as the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., the nth control subsystem 52n, etc., for controlling the above-mentioned equipment layer 54 Actions of corresponding types of devices among various types of devices. For example, the above-mentioned first control subsystem 521 is used to control the above-mentioned first type equipment 541, the above-mentioned second control subsystem 522 is used to control the above-mentioned second type equipment 542, and the above-mentioned third control subsystem 523 is used to control the above-mentioned third type equipment. devices 543, etc., the above-mentioned first-type devices 541 may include multiple devices of the same type (first-type devices 5411-541m), and the above-mentioned second-type devices 542 may include multiple devices of the same type (first-type devices 5421-542m), The above-mentioned third-type equipment 543 may include multiple equipment of the same type (third-type equipment 5431-543m), etc., wherein in each equipment of the same type, each equipment (such as the equipment of the first type 5411-541m) can run simultaneously, or when one of them When one device (such as the first type device 5411) is running, one or more devices of the same type (such as the first type devices 5412-541m) can be used as the backup device for the running device.
上述指令派发器51将所获得的规范指令根据上述规范指令的类型派发给上述控制子系统52中相应的控制子系统，上述相应的控制子系统基于上述规范指令，控制上述设备层54中的相应类型的设备的动作。The instruction dispatcher 51 distributes the obtained standard instructions to the corresponding control subsystems in the control subsystem 52 according to the type of the above-mentioned standard instructions, and the above-mentioned corresponding control subsystems control the corresponding type of device action.
此外，上述控制子系统52中相应的控制子系统从上述设备层54中的相应类型的设备获得反馈指令信息，以获取上述设备层54中的相应类型的设备的指令接收和/或完成状况。上述指令派发器51从上述控制子系统52中相应的控制子系统获得反馈指令信息，以获取上述控制子系统52中相应的控制子系统的指令接收和/或完成状况。In addition, the corresponding control subsystems in the above-mentioned control subsystems 52 obtain feedback instruction information from the corresponding types of equipment in the above-mentioned equipment layer 54, so as to obtain the instruction reception and/or completion status of the corresponding types of equipment in the above-mentioned equipment layer 54. The command dispatcher 51 obtains feedback command information from the corresponding control subsystems of the control subsystems 52 , so as to obtain the status of command reception and/or completion of the corresponding control subsystems of the control subsystems 52 .
在上述实施方式中，上述生产线控制系统还可以包括数据库55，用于存储规范指令、反馈指令信息等数据。可以由生产线控制系统中的规划部分(其中的排产功能)(未图示)产生上述规范指令，并将上述规范指令存储于上述数据库55中。上述指令派发器51可以从上述数据库55中读取上述规范指令进行相应的派发。In the above embodiment, the production line control system may further include a database 55 for storing data such as specification instructions and feedback instruction information. The specification instructions can be generated by the planning part (production scheduling function) (not shown) in the production line control system, and stored in the database 55 . The above-mentioned instruction dispatcher 51 can read the above-mentioned specification instructions from the above-mentioned database 55 and perform corresponding distribution.
上述生产线控制系统具有规划功能和调度功能。其中，规划功能主要由上述生产线控制系统中的规划功能模块(未图示)完成，对上述生产线的物料规划、刀具规划、排产规划等进行计算，以生成上述规范指令。上述生产线控制系统的规划功能模块所生成的上述规范指令可以被存储于上述数据库中，以供上述指令派发器51读取使用。上述规范指令指一种控制生产线运动的通用指令，与硬件的型号、版本无关，只与硬件的种类关联，例如“机床动作”、“机械手动作”、“二维码打印机动作”等。The above-mentioned production line control system has a planning function and a dispatching function. Among them, the planning function is mainly completed by the planning function module (not shown) in the above-mentioned production line control system, which calculates the material planning, tool planning, production scheduling planning, etc. of the above-mentioned production line to generate the above-mentioned specification instructions. The specification instructions generated by the planning function module of the production line control system may be stored in the database for reading by the instruction dispatcher 51 . The above specification instructions refer to a general instruction for controlling the movement of the production line, which has nothing to do with the type and version of the hardware, but only with the type of hardware, such as "machine tool action", "manipulator action", "QR code printer action" and so on.
调度功能主要由上述控制子系统52完成，用于控制底层硬件动作。在传统的生产线控制系统中，所有类型的硬件动作都由一个系统完成，造成了控制系统体量庞大，不利于系统稳定性和维护工作。在本发明中，采用多个控制子系统(第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n)来分别控制相应的设备(第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n)的动作。然后，由上述指令派发器51将所获得的规范指令根据上述规范指令的类型派发给上述控制子系统52中相应的控制子系统(第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n)。The scheduling function is mainly completed by the above-mentioned control subsystem 52, which is used to control the underlying hardware actions. In the traditional production line control system, all types of hardware actions are completed by one system, resulting in a large control system, which is not conducive to system stability and maintenance work. In the present invention, a plurality of control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., the nth control subsystem 52n) are used to respectively control the corresponding equipment ( Actions of the first type device 541 , the second type device 542 , the third type device 543 , . . . , the nth type device 54n). Then, the above-mentioned instruction dispatcher 51 distributes the obtained specification instructions to the corresponding control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystem 52) in the above-mentioned control subsystem 52 according to the type of the above-mentioned specification instructions. control subsystem 523, ..., the nth control subsystem 52n).
例如，上述指令派发器51将所获得的规范指令中用于控制机床的控制指令派发给用于调度机床的控制子系统(NCServer，Numerical Control Server)(第一控制子系统521)，以控制机床的动作；将所获得的规范指令中用于控制机械手的控制指令派发给用于调度机械手的控制子系统(RCServer，Robot Control Server)(第二控制子系统522)，以控制机械手的动作；将所获得的规范指令中用于控制测量机的控制指令派发给用于调度测量机的控制子系统(MCServer，Measure Control Server)(第三控制子系统523)，以控制测量机的动作。For example, the above-mentioned command dispatcher 51 distributes the control commands used to control the machine tool in the obtained standard commands to the control subsystem (NCServer, Numerical Control Server) (first control subsystem 521) for scheduling the machine tool, so as to control the machine tool The action of the obtained specification instruction for controlling the manipulator is dispatched to the control subsystem (RCServer, Robot Control Server) (second control subsystem 522) for scheduling the manipulator to control the action of the manipulator; Among the obtained specification instructions, the control instructions for controlling the measuring machine are dispatched to the control subsystem (MCServer, Measure Control Server) (the third control subsystem 523 ) for scheduling the measuring machine to control the action of the measuring machine.
在本发明中，上述多个控制子系统(第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n)可以在同一物理主机上以不同的进程运行，也可以运行在不同的物理主机上。In the present invention, the above-mentioned multiple control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., the nth control subsystem 52n) can be implemented on the same physical host as Different processes run and can also run on different physical hosts.
通过上述指令派发器51将所获得的规范指令根据上述规范指令的类型派发给多个控制子系统中相应的控制子系统，让生产线控制系统以分布式地下发指令，使得每个控制子系统的功能分明，以精简每个控制子系统上的程序，做到低耦合、高内聚。而且，在本发明中，采用分布式地下发指令，降低耦合度，增改一个功能块不影响其它功能模块(控制子系统)，开发时便于分工合作，维护时会减少工作量。同时，在本发明中，一个功能模块(控制子系统)的失效不会导致整个系统崩溃，增加了鲁棒性和可靠性，也降低了对单台设备的要求，综合利用各处的资源。此外，多个控制子系统并行，使得指令下发更为迅速，可以同时调度生产线的不同类型的设备(比如机床、机械手或者二维码打印等不同类型设备)动作，提高了生产线效率。The obtained specification instructions are dispatched to the corresponding control subsystems in the multiple control subsystems according to the type of the above-mentioned specification instructions through the above-mentioned instruction dispatcher 51, so that the production line control system can issue instructions in a distributed manner, so that each control subsystem The functions are distinct to simplify the program on each control subsystem to achieve low coupling and high cohesion. Moreover, in the present invention, distributed instructions are used to reduce the degree of coupling, adding and modifying a function block does not affect other function modules (control subsystems), which facilitates division of labor and cooperation during development, and reduces workload during maintenance. At the same time, in the present invention, the failure of one functional module (control subsystem) will not lead to the collapse of the whole system, which increases the robustness and reliability, reduces the requirement for a single device, and comprehensively utilizes resources everywhere. In addition, multiple control subsystems are parallel, which makes the command issue faster, and can simultaneously schedule the actions of different types of equipment (such as machine tools, manipulators, or two-dimensional code printing, etc.) in the production line, improving the efficiency of the production line.
在上述实施方式中，上述生产线控制系统还可以包括指令解释器53，其中上述指令解释器53包括第一指令解释器531、第二指令解释器532、第三指令解释器533、……、第n指令解释器53n等。优选地，上述指令解释器53中每一个上述指令解释器分别与上述控制子系统52中的多个控制子系统一一对应。更优选地，上述指令解释器53中每一个上述指令解释器分别与上述设备层54中的多种类型的设备一一对应。In the above-mentioned embodiment, the above-mentioned production line control system may further include a command interpreter 53, wherein the above-mentioned command interpreter 53 includes a first command interpreter 531, a second command interpreter 532, a third command interpreter 533, ..., the first n command interpreter 53n and so on. Preferably, each of the above-mentioned command interpreters in the above-mentioned command interpreters 53 corresponds to a plurality of control subsystems in the above-mentioned control subsystem 52 respectively. More preferably, each of the above-mentioned instruction interpreters in the above-mentioned instruction interpreters 53 corresponds to multiple types of devices in the above-mentioned device layer 54 respectively.
在本发明中，在控制子系统(第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n)和与其对应的设备(第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n)之间加入了指令解释器(第一指令解释器531、第二指令解释器532、第三指令解释器533、……、第n指令解释器53n)，各个控制子系统将其从上述指令派发器51所接收到的上述规范指令(通用指令)下发给与其对应的指令解释器，该指令解释器将通用指令转化为相应硬件的控制指令，进而控制相应的硬件(设备)动作。如果没有指令解释器，控制子系统的控制指令直接与硬件相关，所以当硬件发生改变的时候，就需要对控制子系统进行更改。然而，在本发明中，通过在控制子系统和与其对应的设备之间加入了指令解释器，控制子系统将其从上述指令派发器51所接收到的上述规范指令下发给指令解释器，指令解释器再将其“解释”为相应的硬件控制指令，控制硬件动作，从而使得即使底层硬件改变或者系统升级都不会影响到控制子系统主体，仅需要改变指令解释器。这种特性让生产线控制系统具备了硬件无关性，这样，就可以轻松地对其进行移植，便于此类产线的量产；同时，对于柔性产线控制系统的开发者来说，硬件无关性能让其更加专注于生产线控制系统“功能”的实现，如工艺路线的模型化、刀具的管理、物料的管理、动态排产的实现……而不用考虑底层设备的特殊性。In the present invention, between the control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., the nth control subsystem 52n) and the corresponding equipment (the first type Device 541, the second type device 542, the third type device 543, ..., the nth type device 54n) have added instruction interpreters (the first instruction interpreter 531, the second instruction interpreter 532, the third instruction interpreter device 533, ..., the nth instruction interpreter 53n), each control subsystem sends the above-mentioned standard instruction (general instruction) received from the above-mentioned instruction dispatcher 51 to its corresponding instruction interpreter, and the instruction interpreter The device converts general-purpose instructions into corresponding hardware control instructions, and then controls the corresponding hardware (device) actions. If there is no instruction interpreter, the control instructions of the control subsystem are directly related to the hardware, so when the hardware changes, the control subsystem needs to be changed. However, in the present invention, by adding an instruction interpreter between the control subsystem and its corresponding equipment, the control subsystem sends the above-mentioned specification instructions received from the above-mentioned instruction dispatcher 51 to the instruction interpreter, The instruction interpreter then "interprets" it into corresponding hardware control instructions to control hardware actions, so that even if the underlying hardware changes or system upgrades, the main body of the control subsystem will not be affected, and only the instruction interpreter needs to be changed. This feature makes the production line control system hardware-independent, so that it can be easily transplanted to facilitate mass production of this type of production line; at the same time, for developers of flexible production line control systems, hardware-independent performance Let it focus more on the realization of the "functions" of the production line control system, such as the modeling of process routes, tool management, material management, and the realization of dynamic production scheduling... without considering the particularity of the underlying equipment.
在上述实施方式中，优选地，在上述多个控制子系统(第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n)或指令解释器(第一指令解释器531、第二指令解释器532、第三指令解释器533、……、第n指令解释器53n)中分别设置同类设备热切换功能模块(未图示)，当控制子系统或指令解释器下发的控制指令所指定的设备出现故障无法完成动作时，控制子系统或指令解释器会主动寻找其余空闲的同类设备完成此动作,并且此功能对上层透明。如图5所示，第一类型设备541包括多个同类型设备(第一类型设备5411～541m)，第二类型设备542包括多个同类型设备(第二类型设备5421～542m)，第三类型设备543包括多个同类型设备(第三类型设备5431～543m)，等等。比如，当正在活动中的第二类型设备5421出现故障无法完成动作时，用于控制所述第二类型设备542的第二控制子系统522或第二指令解释器532就会侦测到第二类型设备542的备用第二类型设备(比如第二类型设备5422)，并下发指令让备用第二类型设备接续出故障的第二类型设备5421来执行业务，从而实现业务的不中断或短暂中断。In the above-mentioned embodiment, preferably, in the above-mentioned multiple control subsystems (the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., the nth control subsystem 52n) or instruction Interpreters (the first instruction interpreter 531, the second instruction interpreter 532, the third instruction interpreter 533, ..., the nth instruction interpreter 53n) are respectively provided with similar equipment hot-switch function modules (not shown), when When the device specified by the control command issued by the control subsystem or command interpreter fails to complete the action, the control subsystem or command interpreter will actively find other idle devices of the same type to complete the action, and this function is transparent to the upper layer. As shown in FIG. 5 , the first-type device 541 includes multiple devices of the same type (first-type devices 5411-541m), the second-type device 542 includes multiple devices of the same type (second-type devices 5421-542m), and the third The type device 543 includes multiple devices of the same type (third type devices 5431˜543m), and so on. For example, when the active second type device 5421 fails to complete the action, the second control subsystem 522 or the second instruction interpreter 532 for controlling the second type device 542 will detect the second Type equipment 542 is a standby second-type equipment (such as second-type equipment 5422), and issues instructions to allow the standby second-type equipment to connect to the failed second-type equipment 5421 to perform services, thereby realizing uninterrupted or short-term interruption of services .
例如，当在一次指令下发中，“RCServer”收到来自上层的控制指令：让“机械手1”将“27号物料”搬运至“3号机床”，如果此时“机械手1”出现了故障，无法执行此动作，那么“RCServer”会找寻此时处于空闲状态的“机械手2”来完成将“27号物料”搬运至“3号机床”，这样关于“27号物料”之后的加工、打码等操作都得以继续进行，实现产线运行的不中断。For example, when an instruction is issued, "RCServer" receives a control instruction from the upper layer: let "robot 1" move "No. 27 material" to "No. 3 machine tool", if at this time "robot 1" fails , this action cannot be performed, then "RCServer" will look for the "Robot 2" which is idle at this time to complete the transfer of "No. 27 Material" to "No. Coding and other operations can continue to achieve uninterrupted production line operation.
在上述实施例中，当上述反馈指令信息显示相应的设备(第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n)在预定时间内没有进行与上述控制指令相对应的动作时，上述控制子系统或上述指令解释器确定上述相应设备无法完成与上述控制指令相对应的动作。In the above embodiment, when the above feedback instruction information shows that the corresponding equipment (the first type equipment 541, the second type equipment 542, the third type equipment 543, ..., the nth type equipment 54n) does not communicate with When performing an action corresponding to the above-mentioned control instruction, the above-mentioned control subsystem or the above-mentioned instruction interpreter determines that the above-mentioned corresponding equipment cannot complete the action corresponding to the above-mentioned control instruction.
图6示出了根据本发明一实施例的生产线控制方法的示意性流程图。如图6所示，由产线控制系统中的规划部分(其中的排产功能)(未图示)产生规范指令存于上述数据库55中(步骤S601)。当生产线控制系统开启加工后，上述指令派发器51将相应的规范指令从上述数据库55中读出以获得规范指令(步骤S602)。上述指令派发器51根据上述规范指令的类型，将所获得上述规范指令派发给上述控制子系统52中相应的控制子系统(第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n)(步骤S603)，上述相应的控制子系统将上述规范指令下发给上述设备层54中的相应类型的设备(第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n)以控制其的动作(步骤S604)。Fig. 6 shows a schematic flowchart of a production line control method according to an embodiment of the present invention. As shown in FIG. 6 , the specification instruction generated by the planning part (the production scheduling function) (not shown) in the production line control system is stored in the above-mentioned database 55 (step S601 ). After the production line control system starts processing, the command dispatcher 51 reads the corresponding specification command from the database 55 to obtain the specification command (step S602 ). According to the type of the above-mentioned standard instruction, the above-mentioned instruction dispatcher 51 distributes the obtained above-mentioned standard instruction to the corresponding control subsystems in the above-mentioned control subsystem 52 (the first control subsystem 521, the second control subsystem 522, the third control subsystem System 523, ..., the nth control subsystem 52n) (step S603), the above-mentioned corresponding control subsystem sends the above-mentioned specification instruction to the corresponding type of equipment in the above-mentioned equipment layer 54 (the first type of equipment 541, the second type device 542, third type device 543, ..., nth type device 54n) to control their actions (step S604).
在本实施方式中，上述相应的控制子系统还接收来自上述规范指令所指向的相应类型的设备的反馈指令信息并进行处理(步骤S605)，并将上述反馈指令信息反馈给上述指令派发器51，上述指令派发器接收上述反馈指令信息(步骤S606)，并存储至上述数据库55的相应区域(步骤S607)。通过接收指令所指向的相应类型的设备的反馈指令信息，上级系统将指令下发给下级系统，下级系统会将指令的接收和完成状况反馈给上级系统，如此，上级系统便会知道下级系统的状态以及该动作的执行情况，使得系统决策和控制更为精准，从而也能够及时准确地发现下一层级工作异常和故障。In this embodiment, the above-mentioned corresponding control subsystem also receives and processes the feedback instruction information from the corresponding type of equipment pointed to by the above-mentioned specification instruction (step S605), and feeds back the above-mentioned feedback instruction information to the above-mentioned instruction dispatcher 51 , the above-mentioned instruction dispatcher receives the above-mentioned feedback instruction information (step S606), and stores it in the corresponding area of the above-mentioned database 55 (step S607). By receiving the feedback instruction information of the corresponding type of equipment pointed to by the instruction, the upper-level system will issue the instruction to the lower-level system, and the lower-level system will feed back the reception and completion status of the instruction to the upper-level system. In this way, the upper-level system will know the status of the lower-level system. The state and the execution of the action make the system decision-making and control more precise, so that the abnormality and failure of the next level can be detected in a timely and accurate manner.
下面以数控机床生产线为例(参见图7)，说明上述指令派发器51分发规范指令的过程。Taking the CNC machine tool production line as an example (see FIG. 7 ), the process of distributing standard commands by the above-mentioned command dispatcher 51 will be described below.
假设第一类型设备541为机床、第二类型设备542为机械手、第三类型设备543为控制测量机，上述规范指令可定义为含有“E***”字段(还有其它相关字段)，其中“*”代表0～9的任意数字，并进一步作如下定义：Assuming that the first type of equipment 541 is a machine tool, the second type of equipment 542 is a manipulator, and the third type of equipment 543 is a control measuring machine, the above specification instructions can be defined as containing "E***" field (and other related fields), wherein "*" represents any number from 0 to 9, and is further defined as follows:
“E1**”是控制机床指令，如“E103”表示机床加刀，“E104”表示机床程序取消选中；"E1**" is an instruction to control the machine tool, such as "E103" means adding a tool on the machine tool, "E104" means canceling the selection of the machine tool program;
“E2**”是控制机械手字段，如“E203”表示机械手将对应的托盘送到上料站；"E2**" is the control robot field, such as "E203" means that the robot sends the corresponding pallet to the loading station;
“E3**”是控制测量机指令，如“E304”表示测量机在线测量工件。"E3**" is an instruction to control the measuring machine, such as "E304" means that the measuring machine measures the workpiece online.
上述指令派发器51根据“规范指令”的“E***”字段对其进行分类，并将其分发到不同的控制子系统。例如，将“E1**”分发给作为第一类型设备541的机床的第一控制子系统521，将“E2**”分发给作为第二类型设备542的机械手的第二控制子系统522，将“E3**”分发给作为第三类型设备543的测量机的第三控制子系统523，……。其中，规范指令“E1**”可以用于第一类型设备541中的一个或多个第一类型设备(比如对应于第一类型设备5411的机床1、对应于第一类型设备5412的机床2，……)，规范指令“E2**”可以用于第二类型设备542中的一个或多个第二类型设备(比如对应于第二类型设备5421的机械手1、对应于第二类型设备5422的机械手2，……)，规范指令“E3**”可以用于第三类型设备543中的一个或多个第三类型设备(比如对应于第三类型设备5431的测量机1、对应于第三类型设备5432的测量机2，……)。The above-mentioned instruction dispatcher 51 classifies the "standard instructions" according to the "E***" field, and distributes them to different control subsystems. For example, "E1**" is distributed to the first control subsystem 521 of the machine tool as the first type of equipment 541, and "E2**" is distributed to the second control subsystem 522 of the manipulator as the second type of equipment 542, "E3**" is distributed to the third control subsystem 523, . Among them, the specification instruction "E1**" can be used for one or more first-type equipment in the first-type equipment 541 (for example, machine tool 1 corresponding to the first-type equipment 5411, machine tool 2 corresponding to the first-type equipment 5412 ,...), the specification command "E2**" can be used for one or more second-type devices in the second-type device 542 (such as manipulator 1 corresponding to the second-type device 5421, corresponding to the second-type device 5422 Manipulator 2, ...), the specification instruction "E3**" can be used for one or more third-type equipment in the third-type equipment 543 (such as the measuring machine 1 corresponding to the third-type equipment 5431, corresponding to the first Measuring machine 2 of three types of equipment 5432, ...).
图8示出了根据本发明实施例的生产线控制方法的中步骤S605处理反馈指令信息示意性流程图。如图8所示，上述相应的控制子系统从上述规范指令所指向的相应类型的设备接收反馈指令信息(步骤S6051)，并判断上述相应类型的设备是否能够完成上述规范指令所对应的动作(步骤S6052)。例如，上述反馈指令信息中可以包括显示设备对指令接收和完成状况的信息“0”和“1”，如果上述反馈指令信息中包括显示设备对指令接收和完成状况的信息为“0”，显示当前设备能够接收和/或完成相关指令，如果上述反馈指令信息中包括显示设备对指令接收和完成状况的信息为“1”，显示当前设备无法接收和/或完成相关指令。当然，在本发明中也可使用其他方式来显示当前设备能够接收和/或完成相关指令，只要能够达到本发明目的即可。Fig. 8 shows a schematic flowchart of processing feedback instruction information in step S605 of the production line control method according to an embodiment of the present invention. As shown in Figure 8, the above-mentioned corresponding control subsystem receives feedback instruction information from the corresponding type of equipment pointed to by the above-mentioned specification instruction (step S6051), and judges whether the above-mentioned corresponding type of equipment can complete the action corresponding to the above-mentioned specification instruction ( Step S6052). For example, the above-mentioned feedback instruction information may include information "0" and "1" indicating that the device receives and completes the instruction, and if the above-mentioned feedback instruction information includes "0", the display The current device is able to receive and/or complete relevant instructions, and if the above-mentioned feedback instruction information includes the information indicating that the device receives and completes the instruction is "1", it indicates that the current device cannot receive and/or complete the relevant instructions. Of course, other ways can also be used in the present invention to display that the current device can receive and/or complete related instructions, as long as the purpose of the present invention can be achieved.
当判断上述相应类型的设备无法完成上述规范指令所对应的动作时(步骤S6052：否)，例如上述反馈指令显示第一类型设备541、第二类型设备542、第三类型设备543、……、和/或第n类型设备54n存在工作异常和故障，第一控制子系统521、第二控制子系统522、第三控制子系统523、……、和/或第n控制子系统52n主动寻找第一类型设备541、第二类型设备542、第三类型设备543、……、和/或第n类型设备54n中能够完成此动作的其他空闲的同类设备(步骤S6053)。并且，将该其他空闲的同类设备作为当前使用的设备继续下发上述规范指令以及从该当前使用的设备接收反馈指令信息。When it is judged that the above corresponding type of equipment cannot complete the action corresponding to the above specification instruction (step S6052: No), for example, the above feedback instruction displays the first type equipment 541, the second type equipment 542, the third type equipment 543, ..., And/or the nth type of equipment 54n has abnormal operation and failure, the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., and/or the nth control subsystem 52n actively seeks the first Among the first-type device 541 , the second-type device 542 , the third-type device 543 , . And, the other idle device of the same type is used as the currently used device to continue to issue the above specification instruction and receive feedback instruction information from the currently used device.
当判断上述相应类型的设备能够完成上述规范指令所对应的动作时(步骤S6052：是)，第一控制子系统521、第二控制子系统522、第三控制子系统523、……、和/或第n控制子系统52n继续将上述相应类型的设备作为当前使用的设备并继续下发上述规范指令以及从上述相应类型的设备接收反馈指令信息。When it is judged that the above corresponding type of equipment can complete the action corresponding to the above specification instruction (step S6052: Yes), the first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., and/or Or the nth control subsystem 52n continues to use the above-mentioned corresponding type of equipment as the currently used equipment, and continues to issue the above-mentioned specification instructions and receive feedback instruction information from the above-mentioned corresponding types of equipment.
图9示出了根据本发明实施例的生产线控制方法的另一示意性流程图。如图9所示，在该另一示意性流程图中，步骤S901～步骤S903与步骤S601～步骤S603相同，在此不再累述。Fig. 9 shows another schematic flowchart of a production line control method according to an embodiment of the present invention. As shown in FIG. 9 , in this other schematic flow chart, steps S901 to S903 are the same as steps S601 to S603 , and will not be repeated here.
上述相应的控制子系统将上述规范指令下发给第一指令解释器531、第二指令解释器532、第三指令解释器533、……、第n指令解释器53n中相应的指令解释器(步骤S904)，该相应的指令解释器将通用的规范指令解释为为与第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n等相对应的硬件控制指令(步骤S905)，并下发给上述设备层54中的相应类型的设备(第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n)以控制其的动作(步骤S906)。The above-mentioned corresponding control subsystem sends the above-mentioned standard instructions to the corresponding instruction interpreters in the first instruction interpreter 531, the second instruction interpreter 532, the third instruction interpreter 533, ..., the nth instruction interpreter 53n ( Step S904), the corresponding instruction interpreter interprets the general specification instructions as hardware corresponding to the first type device 541, the second type device 542, the third type device 543, ..., the nth type device 54n, etc. control instruction (step S905), and send it to the corresponding type of equipment (first type equipment 541, second type equipment 542, third type equipment 543, ..., nth type equipment 54n) in the above equipment layer 54 to Its operation is controlled (step S906).
在本实施方式中，上述相应的指令解释器还接收来自上述硬件控制指令所指向的相应类型的设备的反馈指令信息并对反馈指令信息进行处理(步骤S907)，并将上述反馈指令信息反馈给第一控制子系统521、第二控制子系统522、第三控制子系统523、……、和/或第n控制子系统52n中的上述相应的控制子系统(步骤S908)，再由上述相应的控制子系统反馈给上述指令派发器51(步骤S909)，并存储至上述数据库55的相应区域(步骤S910)。通过接收指令所指向的相应类型的设备的反馈指令，上级系统将指令下发给下级系统，下级系统会将指令的接收和完成状况反馈给上级系统，如此，上级系统便会知道下级系统的状态以及该动作的执行情况，使得系统决策和控制更为精准，从而也能够及时准确地发现下一层级工作异常和故障。In this embodiment, the above-mentioned corresponding instruction interpreter also receives the feedback instruction information from the corresponding type of equipment directed by the above-mentioned hardware control instruction and processes the feedback instruction information (step S907), and feeds the above-mentioned feedback instruction information to The first control subsystem 521, the second control subsystem 522, the third control subsystem 523, ..., and/or the above-mentioned corresponding control subsystems in the nth control subsystem 52n (step S908), and then by the above-mentioned corresponding The control subsystem of the command feeds back to the above-mentioned command dispatcher 51 (step S909), and stores it in the corresponding area of the above-mentioned database 55 (step S910). By receiving the feedback command from the corresponding type of equipment pointed to by the command, the upper-level system will issue the command to the lower-level system, and the lower-level system will feed back the reception and completion status of the command to the upper-level system, so that the upper-level system will know the status of the lower-level system And the execution of this action makes the system decision-making and control more precise, so that the abnormality and failure of the next level of work can be found in a timely and accurate manner.
下面以数控机床生产线中涉及机床的指令解释器为例(参见图10)，说明“机床指令解释器”(例如第一指令解释器531)解释规范指令的过程。Taking the instruction interpreter related to the machine tool in the CNC machine tool production line as an example (see FIG. 10 ), the process of interpreting the specification instruction by the “machine instruction interpreter” (eg, the first instruction interpreter 531 ) is described below.
在上述指令派发器51派发的用于控制机床动作的“规范指令”包含“E1**”字段。“机床指令解释器”(例如第一指令解释器531)控制机床动作的硬件控制指令是调用封装了改变数控系统状态的远程调用接口(自定义协议)，比如数控系统相应刀具控制接口(见表1)：The "standard command" for controlling the machine tool movement dispatched by the command dispatcher 51 includes the "E1**" field. "Machine tool instruction interpreter" (such as the first instruction interpreter 531) controls the hardware control instruction of the machine tool action to call and encapsulate the remote call interface (custom protocol) that changes the state of the numerical control system, such as the corresponding tool control interface of the numerical control system (see table 1):
表1刀具控制接口列表Table 1 Tool control interface list
如图10所示，上述指令派发器将“规范指令”(例如指令3)派发给用于控制机床运行的控制子系统(例如第一控制子系统521)，该控制子系统将该规范指令下发给机床指令解释器(第一指令解释器531)，其中“E103”表示机床加载刀具指令。经过机床指令解释器，其将“规范指令”解释为控制机床动作的“硬件控制指令”(实质为控制接口)，分为三步：As shown in Figure 10, the above-mentioned instruction dispatcher dispatches the "standard instruction" (such as instruction 3) to the control subsystem (such as the first control subsystem 521) used to control the operation of the machine tool, and the control subsystem sends the specification instruction Send to the machine tool command interpreter (the first command interpreter 531), wherein "E103" represents the machine tool loading tool command. Through the machine tool instruction interpreter, it interprets the "standard instruction" as a "hardware control instruction" (essentially a control interface) that controls the movement of the machine tool, which is divided into three steps:
HNC_ToolLoad机床导入刀具文件；HNC_ToolLoad machine tool import tool file;
HNC_ToolSave机床保存刀具文件；HNC_ToolSave machine tool save tool file;
HNC_ToolGetToolPara获取机床刀具参数，确认修改是否成功；HNC_ToolGetToolPara obtains machine tool parameters and confirms whether the modification is successful;
此硬件控制指令直接控制机床动作。This hardware control instruction directly controls the movement of the machine tool.
在上述实施方式中，对于步骤S907中反馈指令信息的处理过程，可以参见步骤S605(参照图8)，在此不再累述。In the above embodiment, for the processing process of feeding back instruction information in step S907, reference may be made to step S605 (refer to FIG. 8 ), which will not be repeated here.
图11示出了根据本发明实施例的生产线控制方法的另一示意性流程图。如图11所示，由产线控制系统中的规划部分(其中的排产功能)(未图示)产生规范指令存于上述数据库55中(步骤S1101)。当生产线控制系统开启加工后，上述指令派发器51将相应的规范指令从上述数据库55中读出以获得规范指令(步骤S1102)。上述指令派发器51根据上述规范指令的类型，将所获得上述规范指令派发给上述控制子系统52中相应的控制子系统(第一控制子系统521、第二控制子系统522、第三控制子系统523、……、第n控制子系统52n)(步骤S1103)，并且上述指令派发器51从上述相应的控制子系统接收反馈指令信息，同时将上述反馈指令信息存储于上述存储器51(步骤S1104)。通过向下一层级的相应控制子系统下发指令同时接收下一层级的反馈指令，从而能够及时掌握该相应的控制子系统的状态以及该动作的执行情况，使得系统决策和控制更为精准，从而也能够及时准确地发现该相应的控制子系统工作异常和故障。Fig. 11 shows another schematic flowchart of a production line control method according to an embodiment of the present invention. As shown in FIG. 11 , the specification instruction generated by the planning part (the production scheduling function) (not shown) in the production line control system is stored in the above-mentioned database 55 (step S1101 ). After the production line control system starts processing, the command dispatcher 51 reads the corresponding specification command from the database 55 to obtain the specification command (step S1102 ). According to the type of the above-mentioned standard instruction, the above-mentioned instruction dispatcher 51 distributes the obtained above-mentioned standard instruction to the corresponding control subsystems in the above-mentioned control subsystem 52 (the first control subsystem 521, the second control subsystem 522, the third control subsystem System 523, ..., the nth control subsystem 52n) (step S1103), and the above-mentioned instruction dispatcher 51 receives the feedback instruction information from the above-mentioned corresponding control subsystem, and stores the above-mentioned feedback instruction information in the above-mentioned memory 51 (step S1104 ). By issuing instructions to the corresponding control subsystem at the next level and receiving feedback instructions at the next level, it is possible to grasp the state of the corresponding control subsystem and the execution of the action in a timely manner, making system decision-making and control more accurate. Therefore, abnormal operation and failure of the corresponding control subsystem can also be found in time and accurately.
上述相应的控制子系统将上述规范指令下发给上述设备层54中的相应类型的设备(第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n)以控制其的动作(步骤S1105)。上述相应的控制子系统接收来自上述规范指令所指向的相应类型的设备的反馈指令信息并对反馈指令信息进行处理(步骤S1106)，并将上述反馈指令信息反馈被上述指令派发器51(步骤S1107)，并存储至上述数据库55的相应区域(步骤S1108)。采用各个层级的反馈指令，上级系统将指令下发给下级系统，下级系统会将指令的接收和完成状况反馈给上级系统，如此，上级系统便会知道下级系统的状态以及该动作的执行情况，使得系统决策和控制更为精准，从而也能够及时准确地发现各层级工作异常和故障。The above-mentioned corresponding control subsystem sends the above-mentioned specification instructions to the corresponding types of devices in the above-mentioned device layer 54 (the first type device 541, the second type device 542, the third type device 543, ..., the nth type device 54n ) to control its actions (step S1105). The above-mentioned corresponding control subsystem receives the feedback instruction information from the corresponding type of equipment pointed to by the above-mentioned specification instruction and processes the feedback instruction information (step S1106), and feeds the above-mentioned feedback instruction information back to the above-mentioned instruction dispatcher 51 (step S1107 ), and stored in the corresponding area of the database 55 (step S1108). Using feedback instructions at various levels, the upper-level system will issue the instruction to the lower-level system, and the lower-level system will feed back the receipt and completion status of the instruction to the upper-level system. In this way, the upper-level system will know the status of the lower-level system and the execution of the action. This makes system decision-making and control more precise, so that abnormalities and faults at all levels can be found in a timely and accurate manner.
在上述实施方式中，对于步骤S1106中反馈指令信息的处理过程，可以参见步骤S605(参照图8)，在此不再累述。In the above embodiment, for the processing process of feeding back instruction information in step S1106, reference may be made to step S605 (refer to FIG. 8 ), which will not be repeated here.
图12示出了根据本发明实施例的生产线控制方法的另一示意性流程图。如图12所示，在该另一示意性流程图中，步骤S1201～步骤S1204与步骤S1101～步骤S1104相同，在此不再累述。Fig. 12 shows another schematic flowchart of a production line control method according to an embodiment of the present invention. As shown in FIG. 12 , in this other schematic flow chart, steps S1201 to S1204 are the same as steps S1101 to S1104 , and will not be repeated here.
上述相应的控制子系统将上述规范指令下发给第一指令解释器531、第二指令解释器532、第三指令解释器533、……、第n指令解释器53n中相应的指令解释器(步骤S1205)，同时从上述相应的指令解释器接收反馈指令信息，并将该反馈指令信息反馈给上述指令派发器51，存储到上述数据库55的相应区域(步骤S1206)。通过向下一层级的相应的指令解释器下发指令同时接收下一层级的反馈指令，从而能够及时掌握该相应的指令解释器的状态以及该动作的执行情况，使得系统决策和控制更为精准，从而也能够及时准确地发现该相应的指令解释器工作异常和故障。The above-mentioned corresponding control subsystem sends the above-mentioned standard instructions to the corresponding instruction interpreters in the first instruction interpreter 531, the second instruction interpreter 532, the third instruction interpreter 533, ..., the nth instruction interpreter 53n ( Step S1205), at the same time, receive feedback instruction information from the above-mentioned corresponding instruction interpreter, feed back the feedback instruction information to the above-mentioned instruction dispatcher 51, and store it in the corresponding area of the above-mentioned database 55 (step S1206). By issuing instructions to the corresponding instruction interpreter at the next level and receiving the feedback instructions at the next level, the state of the corresponding instruction interpreter and the execution of the action can be grasped in time, making system decision-making and control more precise , so that the abnormal operation and failure of the corresponding instruction interpreter can also be found in time and accurately.
该相应的指令解释器将通用的规范指令解释为与第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n等相对应的硬件控制指令(步骤S1207)，并下发给上述设备层54中的相应类型的设备(第一类型设备541、第二类型设备542、第三类型设备543、……、第n类型设备54n)以控制其的动作(步骤S1208)。The corresponding instruction interpreter interprets the general specification instructions as hardware control instructions corresponding to the first type device 541, the second type device 542, the third type device 543, ..., the nth type device 54n, etc. (step S1207 ), and issued to corresponding types of devices (first type device 541, second type device 542, third type device 543, ..., nth type device 54n) in the above-mentioned device layer 54 to control their actions ( Step S1208).
在本实施方式中，上述相应的指令解释器还接收来自上述硬件控制指令所指向的相应类型的设备的反馈指令信息并进行处理(步骤S1209)，并将上述反馈指令信息反馈给第一控制子系统521、第二控制子系统522、第三控制子系统523、……、和/或第n控制子系统52n中的上述相应的控制子系统(步骤S1210)，再由上述相应的控制子系统反馈给上述指令派发器51，存储至上述数据库55的相应区域(步骤S1211)。采用各个层级的反馈指令，上级系统将指令下发给下级系统，下级系统会将指令的接收和完成状况反馈给上级系统，如此，上级系统便会知道下级系统的状态以及该动作的执行情况，使得系统决策和控制更为精准，从而也能够及时准确地发现各层级工作异常和故障。In this embodiment, the above-mentioned corresponding instruction interpreter also receives and processes the feedback instruction information from the corresponding type of equipment directed by the above-mentioned hardware control instruction (step S1209), and feeds the above-mentioned feedback instruction information to the first control sub- System 521, the second control subsystem 522, the third control subsystem 523, ..., and/or the above-mentioned corresponding control subsystems in the nth control subsystem 52n (step S1210), and then by the above-mentioned corresponding control subsystems Feedback to the above-mentioned instruction dispatcher 51, and store in the corresponding area of the above-mentioned database 55 (step S1211). Using feedback instructions at various levels, the upper-level system will issue the instruction to the lower-level system, and the lower-level system will feed back the receipt and completion status of the instruction to the upper-level system. In this way, the upper-level system will know the status of the lower-level system and the execution of the action. This makes system decision-making and control more precise, so that abnormalities and faults at all levels can be found in a timely and accurate manner.
在上述实施方式中，对于步骤S1209中反馈指令信息的处理过程，可以参见步骤S605(参照图8)，在此不再累述。In the above embodiment, for the processing process of feeding back instruction information in step S1209, reference may be made to step S605 (refer to FIG. 8 ), which will not be repeated here.
不同设备间的通信需要相应的通信协议，在柔性生产线中，指令从控制系统发送到相应的设备也需要相应的协议。在上述实施方式中，可以根据控制指令的特点，利用例如JSON、XML等数据格式，基于TCP/IP协议自定义通讯协议。The communication between different devices requires a corresponding communication protocol, and in a flexible production line, the command is sent from the control system to the corresponding device also requires a corresponding protocol. In the above embodiments, according to the characteristics of the control instruction, the communication protocol can be customized based on the TCP/IP protocol using data formats such as JSON and XML.
本发明还提供至少一个具有非易失性或易失性存储器形式的计算机存储介质，例如电可擦除可编程只读存储器(EEPROM)、闪存和硬盘驱动，存储有计算机可执行指令。计算机可执行指令在被处理器执行时使得产品控制组件或柔性智能产线的控制系统或柔性智能生产线系统执行例如之前柔性智能生产线的控制方法描述的过程的动作。The present invention also provides at least one computer storage medium in the form of non-volatile or volatile memory, such as electrically erasable programmable read-only memory (EEPROM), flash memory, and hard disk drives, storing computer-executable instructions. When executed by the processor, the computer-executable instructions cause the product control component or the control system of the flexible intelligent production line or the flexible intelligent production line system to perform actions such as the process described in the previous control method of the flexible intelligent production line.
处理器可以是单个CPU(中央处理器)，但是也可以包括两个或更多个处理器。例如，处理器可以包括通用微处理器；指令集处理器和/或相关芯片集和/或专用微处理器(例如，专用集成电路(ASIC))。处理器也可以包括用于高速缓存目的的板载存储器。例如，计算机存储介质可以是闪存、随机存取存储器(RAM)、只读存储器(ROM)或EEPROM。The processor may be a single CPU (Central Processing Unit), but may also include two or more processors. For example, a processor may include a general-purpose microprocessor; an instruction set processor and/or an associated chipset and/or a special-purpose microprocessor (eg, an application-specific integrated circuit (ASIC)). Processors may also include on-board memory for caching purposes. For example, a computer storage medium may be flash memory, random access memory (RAM), read only memory (ROM), or EEPROM.
本技术领域技术人员可以理解，本发明包括涉及用于执行本发明中所述操作中的一项或多项的设备。这些设备可以为所需的目的而专门设计和制造，或者也可以包括通用计算机中的已知设备。这些设备具有存储在其内的计算机程序，这些计算机程序选择性地激活或重构。这样的计算机程序可以被存储在设备(例如，计算机)可读介质中或者存储在适于存储电子指令并分别耦联到总线的任何类型的介质中，所述计算机可读介质包括但不限于任何类型的盘(包括软盘、硬盘、光盘、CD-ROM、和磁光盘)、ROM(Read-Only Memory，只读存储器)、RAM(Random Access Memory，随即存储器)、EPROM(Erasable ProgrammableRead-Only Memory，可擦写可编程只读存储器)、EEPROM(Electrically ErasableProgrammable Read-Only Memory，电可擦可编程只读存储器)、闪存、磁性卡片或光线卡片。也就是，可读介质包括由设备(例如，计算机)以能够读的形式存储或传输信息的任何介质。Those skilled in the art can understand that the present invention includes devices for performing one or more of the operations described in the present invention. These devices may be specially designed and fabricated for the required purposes, or they may include known devices found in general purpose computers. These devices have computer programs stored therein that are selectively activated or reconfigured. Such a computer program can be stored in a device (e.g., computer) readable medium, including but not limited to any type of medium suitable for storing electronic instructions and respectively coupled to a bus. Types of disks (including floppy disks, hard disks, CDs, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory, read-only memory), RAM (Random Access Memory, random access memory), EPROM (Erasable Programmable Read-Only Memory, Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (eg, a computer).
本技术领域技术人员可以理解，可以用计算机程序指令来实现这些结构图和/或框图和/或流图中的每个框以及这些结构图和/或框图和/或流图中的框的组合。本技术领域技术人员可以理解，可以将这些计算机程序指令提供给通用计算机、专业计算机或其他可编程数据处理方法的处理器来实现，从而通过计算机或其他可编程数据处理方法的处理器来执行本发明所公开的结构图和/或框图和/或流图的框或多个框中指定的方案。Those skilled in the art will understand that computer program instructions can be used to implement each block in these structural diagrams and/or block diagrams and/or flow diagrams and combinations of blocks in these structural diagrams and/or block diagrams and/or flow diagrams . Those skilled in the art can understand that these computer program instructions can be provided to general-purpose computers, professional computers, or processors of other programmable data processing methods for implementation, so that the computer or processors of other programmable data processing methods can execute the present invention. The schemes specified in the frame or blocks of the structure diagram and/or block diagram and/or flow diagram disclosed in the invention.
本技术领域技术人员可以理解，本发明中已经讨论过的各种操作、方法、流程中的步骤、措施、方案可以被交替、更改、组合或删除。进一步地，具有本发明中已经讨论过的各种操作、方法、流程中的其他步骤、措施、方案也可以被交替、更改、重排、分解、组合或删除。进一步地，现有技术中的具有与本发明中公开的各种操作、方法、流程中的步骤、措施、方案也可以被交替、更改、重排、分解、组合或删除。Those skilled in the art can understand that the various operations, methods, and steps, measures, and solutions in the processes discussed in the present invention can be replaced, changed, combined, or deleted. Further, other steps, measures, and schemes in the various operations, methods, and processes that have been discussed in the present invention may also be replaced, changed, rearranged, decomposed, combined, or deleted. Further, steps, measures, and schemes in the prior art that have operations, methods, and processes disclosed in the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
以上所述仅是本发明的部分实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above descriptions are only part of the embodiments of the present invention. It should be pointed out that those skilled in the art can make some improvements and modifications without departing from the principles of the present invention. It should be regarded as the protection scope of the present invention.
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| CN201810104277.7ACN110134074B (en) | 2018-02-02 | 2018-02-02 | A production line control system and its control method |
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