CN105182795A - Electric energy measuring instrument calibration system scheduling method based on multi-Agent simulation - Google Patents
Electric energy measuring instrument calibration system scheduling method based on multi-Agent simulation Download PDFInfo
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Abstract
The invention provides a method which uses a multi-Agent simulation method to simulate an electric energy measuring instrument calibration system to carry out coordinated scheduling on multiple stages of the calibration system. The electric energy measuring instrument calibration system is composed of three parts of warehousing, calibrating and sealing. When a lot of electric energy measuring instruments are calibrated, job tasks of various parts are prone to disharmony; the operation efficiency of the whole calibration system is affected; and the management of the link of electric energy measuring instrument calibration is difficult and uncertain. According to the invention, the multi-Agent simulation method is used to simulate the operation process of each component of the electric energy measuring instrument calibration system; the feasibility and the completion time of a calibration tack can be pre-determined; the difficulty of electric energy measuring instrument calibration is significantly reduced; and the work efficiency is improved.
Description
Technical field
The present invention relates to a kind of multi-Agent Simulation method that adopts to simulate electric energy metering device verification system, to realize judging and pre-estimating the verification task deadline the feasibility of verification task, and to the method that the despatching work in verification process each stage is coordinated.Belong to electric energy metering device inspection administration technical field.
Background technology
Electric energy metering device comprises the equipment such as electric energy meter, mutual inductor, and wherein electric energy meter can be subdivided into single-phase electric energy meter and three-phase electric energy meter again.Electric energy metering device needs to examine and determine one by one before the use.Each provincial electric power company of China is responsible for unifying calibrating to the electric energy metering device that this province uses.First, the verification task of electric energy metering device is very heavy, and the annual electric energy metering device enormous amount needing calibrating, can reach millions of usually, and this brings very large pressure to completing smoothly of calibration operation.Secondly, the verification system of electric energy metering device is complicated, comprises storage, calibrating, seal three links, and all kinds of material and information flowings occurred between these three links.A typical automatic calibration of electric energy meter system schematic as shown in Figure 1.In electric energy metering device verification system operational process, need mutual coordination between verification system each several part, therefore the management difficulty of electric energy metering device verification process is larger.One is comparatively complicated to the judgement of the feasibility of verification task, and two is be difficult to precognition to the deadline of verification task.Still lack the effective ways operational process of electric energy metering device verification system being carried out to coordinated scheduling at present, therefore to buying and using the enterprise operation process of electric energy metering device to produce very adverse influence.
Summary of the invention
The object of the invention is by adopting multi-Agent Simulation theory to carry out analogue simulation to electric energy metering device verification system, by at particular system parameter Imitating system running state, the operational process of system components is coordinated, and realizes judging and pre-estimating the verification task deadline the feasibility of verification task.
The present invention takes following technical scheme to realize:
(1) adopt multi-Agent Simulation theoretical, set up the storage subsystem realistic model of electric energy metering device verification system, the operation rule of simulation storage subsystem.
(2) adopt multi-Agent Simulation theoretical, set up the calibrating subsystem realistic model of electric energy metering device verification system, the operation rule of simulation calibrating subsystem.
(3) adopt institute Agent simulation theory, set up the seal system simulation model of electric energy metering device verification system, the operation rule of simulation seal system.
(4) realistic model of the storage subsystem of electric energy metering device verification system, calibrating subsystem and seal system is docked, above-mentioned three thin consolidation are become the overall realistic model of electric energy metering device verification system.
(5) under different production tasks, electric energy metering device verification system realistic model is run, realize the mutual coordination to electric energy metering device verification system three phases by system simulation ruuning situation, complete the estimation that verification task feasibility judges and completes verification task required time.
Adopt multiagent emulation mode to the whole service process simulation of electric energy metering device verification system.
The storage of electric energy metering device verification system, calibrating, seal three subsystems are docked, realizes the integration between different piece and coordination.
By simulating certain production task whole processing procedure in systems in which, realizing production task feasibility and completing prejudging and estimating of production task required time.
Principle of the present invention is described below:
(1) Part I of technical scheme: storage subsystem runs passage, piler Accreditation Waiting Area and the connection position from warehousing system to verification system form primarily of vertical library, piler, piler.First the relative position of said apparatus and operational factor are measured.Then adopt multi-Agent Simulation method, under the help of simulation software, set up the realistic model of storage subsystem, modeling process is mainly divided into following a few step:
The first, run the relative position of passage and piler Accreditation Waiting Area according to vertical library, connection position, piler, generate the simulated environment of workplace in systems in which.
The second, generate the piler of respective numbers, and be piler setting operation rule.That is: when piler receive instruction the electric energy metering device of some is transported to connection position from vertical library time, the rule of ac-tion taked is as follows:
<1> route calculation.Calculate the minimal path of piler relative memory location from self-position to vertical library, vertical library respective memory locations to the minimal path of connection position.
<2> moves, be loaded into unloading.Piler moves to the corresponding memory location of vertical library from current location, then carries out loading operation; Move to connection position along minimal path after loading completes and unload; Move to Accreditation Waiting Area after having unloaded to wait for.
3rd, the task of design warehousing system triggers and operating mechanism.Warehousing system, when receiving verification task, first scans storage on hand, as on-hand inventory can meet mission requirements, then and triggering tasks; Otherwise feedback amount in short supply.After task triggers, whether warehousing system scanning connection position is full, when connection position is discontented with, calculates the minimal path of all pilers to vertical library relevant position, and sends job instruction to nearest piler.If connection position is full, then feeds back the full information of connection position and wait for.
(2) Part II of technical scheme: calibrating subsystem primarily of from storage subsystem to the connection position of calibrating subsystem, calibrating subsystem is to the connection position of seal system, verification table, AGV, AGV Accreditation Waiting Area and form for the electromagnetic path that AGV runs.First measure the relative position of said apparatus and operational factor, then adopt multi-Agent Simulation method, under the help of simulation software, set up the realistic model of calibrating subsystem, modeling process is mainly divided into the following steps:
The first, according to the relative position of the stationary installations such as the electromagnetic path that connection position, verification table, AGV Accreditation Waiting Area and confession AGV run, generate the simulated environment of workplace in systems in which.
The second, the AGV generating some is also that AGV sets operation rule.For AGV idle arbitrarily, when receiving instruction and the workpiece of some being transported to stationary installation B from stationary installation A, the rule of ac-tion taked is as follows:
<1> route calculation.AGV calculates the minimal path of self-position to stationary installation A, and the minimal path of stationary installation A to stationary installation B.
<2> moves, load and unload.AGV, according to the result of calculation of step <1>, first moves to stationary installation A by self-position, then carries out loading operation; After loading completes, then move to stationary installation B by stationary installation A, then carry out unloading operation.
<3> evades collision.AGV, in moving process, detects the situation that takies extending forward 2 meters of places likely path along track in real time.As track is occupied, then stop moving and move forward after waiting for 3-5 second.For preventing the mutual wait of two or more AGV to be absorbed in endless loop, the stand-by period is a random number between 3-5 second.
For AGV idle arbitrarily, when not receiving work order and not in Accreditation Waiting Area, the rule of ac-tion taked is as follows:
<1> route calculation.AGV calculates the minimal path of self-position to all available Accreditation Waiting Areas.
<2> moves to Accreditation Waiting Area.The result of calculation that AGV calculates according to step <1>, moves to nearest Accreditation Waiting Area and waits for.
3rd, the task of design calibrating subsystem triggers and operating mechanism.Calibrating subsystem carrys out triggering tasks by connection position and verification table.When the connection position of subsystem to calibrating subsystem of storing in a warehouse is not empty, whether the corresponding verification table of system scan is idle.If there is no idle verification table, then wait for; If there is corresponding idle verification table, all AGV of system-computed complete existing task, then arrive storage subsystem and load electric energy meter to the connection position of calibrating subsystem and be transported to the minimal path of corresponding verification table and required shortest time.Then by task assignment to the shortest AGV of required time.When verification table is not empty and completes calibrating operation, the all AGV of system-computed complete existing task, then the electric energy meter that verification table has loaded calibrating is arrived, and be transported to calibrating subsystem to seal system connection position needed for minimal path and shortest time of correspondence, by task assignment to the shortest AGV of required time.
(3) Part III of technical scheme: seal system is run passage, piler Accreditation Waiting Area by worktable, piler, vertical library, piler and formed from calibrating subsystem to the connection position of seal system.First the relative position of said apparatus and operational factor are measured.Then adopt multi-Agent method, under the help of simulation software, set up the realistic model of seal system, modeling process is mainly divided into following a few step:
First: the relative position running passage, piler Accreditation Waiting Area and worktable according to vertical library, connection position, piler, is just generating the simulated environment of workplace in system.
The second, generate the piler of respective numbers, not piler setting operation rule.Namely when piler receive instruction the electric energy metering device of some is transported to fixation means B from fixation means A time, the rule of ac-tion taked is as follows:
<1> route calculation.Calculate piler from self-position to the minimal path of fixation means A, the minimal path of fixation means to A to fixation means B.
<2> moves, load and unload.Piler moves to fixation means A from current location, then carries out loading operation; Move to fixation means B along minimal path after loading completes and unload; Move to Accreditation Waiting Area after having unloaded to wait for.
3rd, the task of design seal system triggers and operating mechanism.The task trigger unit of seal system is shaped with two kinds, and connection position triggers and worktable triggers.When connection position is not empty, scans all seal worktable, if there is no idle seal worktable, then wait for.If available free worktable, then calculate all unloaded pilers to the bee-line of connection position and required shortest time, the piler sending to required time the shortest job instruction.When worktable is for empty and when completing seal task, calculate all unloaded pilers to the bee-line of relevant work platform and required shortest time, the piler sending to required time the shortest job instruction.
(4) Part IV of technical scheme: by three of electric energy metering device verification system part docking.First be the docking that verification task feasibility judges.After verification task is assigned, first scanning storage subsystem vertical library, then scans seal system vertical library.Storage subsystem vertical library has enough stocks, and the remaining space of seal system vertical library still has enough storage spaces after deducting the electric energy metering device quantity that system processing, then verification task is feasible; Otherwise it is infeasible.Then be the docking between storage subsystem and calibrating subsystem.Keep realtime uniform can realize the docking of storage subsystem and calibrating subsystem the data of the data of storage subsystem connection position and calibrating subsystem connection position.It is finally the docking of calibrating subsystem and seal system.The data of calibrating subsystem and seal system joint position are kept realtime uniform, the docking of examining and determine subsystem and seal system can be realized.
(5) Part V of technical scheme: first this part realizes the multistage coordination of electric energy metering device verification system; Then operational system, completes and completes time required for verification task to the judgement of verification task feasibility and acquisition.
The electric energy metering device verification system multistage coordinates to comprise the coordination that verification task feasibility judges coordination and electric energy metering device verification process.Its coordination process is as follows.
The first, task feasibility judges to coordinate.After a certain amount of verification task is assigned, the whether feasible judgement of task needs jointly to be judged by the running status of three subsystems, and process is as follows:
<1> stores in a warehouse the stock locking that subsystem not yet will complete in existing work program, then returns the electric energy metering device quantity that the inventory amounts, the piler that not yet lock in the inventory amounts of locking, on-hand inventory are being carried;
<2> examines and determine subsystem and scans running status, the electric energy metering device quantity that the electric energy metering device quantity that in retrieval system, AGV is carrying, verification table are being examined and determine;
<3> seal system scans running status, returns electric energy metering device quantity that piler carrying, just in the electric energy metering device quantity of seal, the residue storage capacity of vertical library.
The interface scans running status of <4> tri-subsystems, returns storage subsystem and examines and determine the electric energy metering device quantity of subsystem connection position, examines and determine the electric energy metering device quantity of subsystem and seal system joint position.
<5> is when the inventory amounts >=verification task amount of non-locking in storage subsystem, and electric energy metering device quantity+piler that electric energy metering device quantity+verification table that the electric energy metering device quantity+AGV that the inventory amounts of the residue storage capacity of seal system >=verification task amount+storage subsystem non-locking+storage subsystem piler is being carried is carrying is being examined and determine electric energy metering device quantity+just of carrying is in the electric energy metering device quantity+calibrating subsystem of electric energy metering device quantity+storage subsystem with calibrating subsystem connection position of seal and the electric energy metering device quantity of seal system joint position, then production task is feasible.Otherwise it is infeasible.
The second, electric energy metering device verification process is coordinated.After a certain amount of verification task activates, the operation of three subsystems is that synchronous coordination carries out.Its coordination process comprises following two aspects:
<1> examines and determine subsystem need not wait for that storage subsystem just comes into operation all in time examining and determine electric energy metering device and be all transported to connection position, but start the working procedure of calibrating subsystem when electric energy metering device is transported to connection position from vertical library by first piler, thus the follow-up transport operation of storage subsystem can be carried out simultaneously with the calibrating operation of calibrating subsystem.
<2> seal system need not wait for that calibrating type families system just comes into operation when needed seal electric energy metering device is all transported to connection position, but start the working procedure of seal system when electric energy metering device is transported to connection position from verification table by first AGV, thus the follow-up calibrating operation of examining and determine subsystem can be carried out simultaneously with the seal operation of seal system.
After a certain amount of verification task is assigned, the operational process of system is as follows.First judge that whether verification task is feasible.If infeasible, then return reason.Possible reason has two kinds, and one is that storage subsystem does not have enough stocks; Two be seal system there is no enough storage spaces.Can adjusting verification task in time after receiving feedback, or take other measures to improve operation management, as stocked up in time, shipment, or storage capacity being adjusted.As task is feasible, then operating simulation system can obtain the time that verification task needs.
The beneficial effect that the present invention reaches:
The present invention proposes to adopt multi-Agent Simulation theory to carry out analogue simulation to electric energy metering device verification system, by at particular system parameter Imitating system running state, realize judging and pre-estimating the verification task deadline the feasibility of verification task, and the operational process of system components is coordinated.Through the actual enforcement at electric energy metering device calibrating scene, show that the method is safe and reliable, easy to operate, obviously can reduce the difficulty of electric energy metering device calibration operation, increase work efficiency.
Accompanying drawing explanation
Fig. 1 is each subsystem graph of a relation of automatic calibration of electric energy meter system that the present invention is suitable for.
Embodiment
Select measurement centre of Electric Power Research Institute of Jiangsu Province electric energy metering device automatic calibration system as objective for implementation.Measurement centre of national grid Jiangsu Province has country's largest automatic calibration line, and single-phase electric energy meter 8,000,000 is determined in annual test, three-dimensional electric energy meter 800,000.Being constructed as follows of verification system: measurement centre's intelligent warehousing system and automatic calibration system are mainly distributed in negative one deck to two layer.Negative one deck arranges robotization storehouse, low-voltage current mutual inductor streamline, automatic Sealed wire; Two layers are provided with list, three-phase electric energy meter automatic calibration line, acquisition terminal detection line, and bug list manually examines and determine district.A negative paper storaged building used as a sacrifice to the dead proparea is provided with 5 and goes out to put passage in storage, and adopt parallel way conveying articles, two enter scene 2, and center-aisle can enter and can go out.Warehouse-in passage is equipped with wind and drenches cleaner, while ensureing that goods is clean, can carry out measurement instrument identification and bind with table case.Measurement instrument enters vertical library by proparea, storehouse and keeps in.Receive production task, tested utensil is extracted from storage space by piler by warehousing system, is transported to second floor automatic calibration district connection by hoister.Robotization storehouse has four windows, 6 connection position with the district that plugs in calibrating district, adopts the scheme of intelligent robot pocket watch.Electric energy meter is transported to verification table from calibrating district connection by AGV, robot completes gets table, location, pocket watch, after verification table completes verification task, by AGV dolly, electric energy meter is transmitted back to connection, deliver to negative Stall robotization Sealed wire to sort, the electric energy meter completing sorting will return that vertical library is temporary to be waited to join.
This example implementation step is as follows:
(1) in the middle of this example, vertical library one deck of thinking highly of oneself of storage subsystem is through to two layers, and high 12 meters, floor area is 2000 square metres, and vertical library has 2.6 ten thousand goods yards, can hold 1,500,000 single-phase electric energy meters.Piler load-bearing 65 kilograms, traveling speed can reach 360 ms/min.Storage subsystem has 3, piler 4 to the connection position of calibrating subsystem, and each storage unit of vertical library has piler operation passage to be connected with connection position.Piler carries out loading at vertical library and is each 3 seconds in the time that connection position carries out unloading.
Run the relative position of passage and piler Accreditation Waiting Area according to vertical library, connection position, piler, generate the simulated environment of workplace in systems in which, and be that piler design and operation is regular as follows:
<1> route calculation.Calculate the minimal path of piler relative memory location from self-position to vertical library, vertical library respective memory locations to the minimal path of connection position.
<2> moves, load and unload.Piler moves to the corresponding memory location of vertical library from current location, then carries out loading operation; Move to connection position along minimal path after loading completes and unload; Move to Accreditation Waiting Area after having unloaded to wait for.
Warehousing system, when receiving verification task, first scans storage on hand, as on-hand inventory can meet mission requirements, then and triggering tasks; Otherwise feedback amount in short supply.After task triggers, whether warehousing system scanning connection position is full, when connection position is discontented with, calculates the minimal path of all pilers to vertical library relevant position, and sends job instruction to nearest piler.If connection position is full, then feeds back the full information of connection position and wait for.
(2) examine and determine subsystem and have calibrating 4, district, 4, AGV Accreditation Waiting Area, and an electromagnetic path system these stationary installations connected together.Electromagnetic path system 2 main orbits and 3 point tracks that main orbit is connected together.All tracks are unidirectional track.AGV is each 3 seconds in the connection time of carrying out required for loading and unloading, is each 9 seconds in the verification table time of carrying out required for loading and unloading, and the calibrating time of each verification table is 180 seconds.The movement velocity of AGV is 3m/s, and the time running into parking waiting during barrier is an equally distributed random number between 3 to 5 seconds.
According to the relative position of the stationary installations such as connection, verification table, AGV Accreditation Waiting Area, electron trajectory, generate the simulated environment of workplace in systems in which.Generate 12 AGV, and for AGV set operation rule as follows:
For AGV idle arbitrarily, when receiving instruction and the workpiece of some being transported to stationary installation B from stationary installation A, the rule of ac-tion taked is as follows:
<1> route calculation.AGV calculates the minimal path of self-position to stationary installation A, and the minimal path of stationary installation A to stationary installation B.
<2> moves, load and unload.AGV, according to the result of calculation of step <1>, first moves to stationary installation A by self-position, then carries out loading operation; After loading completes, then move to stationary installation B by stationary installation A, then carry out unloading operation.
<3> evades collision.AGV, in moving process, detects the situation that takies extending forward 2 meters of places likely path along track in real time.As track is occupied, then stop moving and move forward after waiting for 3-5 second.For preventing the mutual wait of two or more AGV to be absorbed in endless loop, the stand-by period is a random number between 3-5 second.
For AGV idle arbitrarily, when not receiving work order and not in Accreditation Waiting Area, the rule of ac-tion taked is as follows:
<1> route calculation.AGV calculates the minimal path of self-position to all available Accreditation Waiting Areas.
<2> moves to Accreditation Waiting Area.The result of calculation that AGV calculates according to step <1>, moves to nearest Accreditation Waiting Area and waits for.
System task is triggered by two kinds of devices, and one is plug into the connection position of district and robotization storehouse, and one is verification table.When the connection position of plug into district and robotization storehouse or any verification table are for time empty, i.e. triggering tasks distribution mechanism.
The task trigger mechanism of connection position of district and robotization storehouse of plugging into is as follows:
<1> is when the state of the connection position of plug into district and robotization storehouse is not for time empty, whether available free first the district that plugs into mates verification table according to workpiece kind with the connection position of robotization storehouse, in the verification table of coupling, then search verification table; If available free verification table, then enter the selection to AGV and task assignment program.If do not have idle verification table, then etc. verification table to be matched completes processing operation.
The selection of <2>AGV and task assignment.Calculating currently does not have each AGV of operation load workpiece to the district that plugs into the connection position of robotization storehouse and be transported to the shortest path of each verification table and corresponding activity duration.Job task is assigned to the shortest AGV of corresponding activity duration, and sends instruction to this AGV.
The task trigger mechanism of verification table is as follows:
It is not empty that <1> works as verification table state, and when having completed processing operation, enters selection and the task assignment program of AGV.
The selection of <2>AGV and task assignment.Calculating currently does not have each AGV of job task to move to corresponding verification table to load workpiece, and workpiece is transported to the shortest path of the connection of robotization Sealed wire and corresponding activity duration.Job task is assigned to the shortest AGV of corresponding activity duration, and sends instruction to this AGV.
(3) seal system has 3, seal worktable 3, piler 4 with the connection position of calibrating subsystem, the vertical library of seal system one deck of thinking highly of oneself is through to two layers, and high 12 meters, floor area is 2000 square metres, vertical library has 2.6 ten thousand goods yards, can hold 1,500,000 single-phase electric energy meters.Piler load-bearing 65 kilograms, traveling speed can reach 360 ms/min.Each storage unit of vertical library has piler operation passage to be connected with connection position.Piler carries out loading at vertical library and is each 3 seconds in the time that connection position carries out unloading.
Run the relative position of passage, piler Accreditation Waiting Area and worktable according to vertical library, connection position, piler, just generate the simulated environment of workplace in system.Generate the piler of respective numbers, not piler setting operation rule.Namely when piler receive instruction the electric energy metering device of some is transported to fixation means B from fixation means A time, the rule of ac-tion taked is as follows:
<1> route calculation.Calculate piler from self-position to the minimal path of fixation means A, the minimal path of fixation means to A to fixation means B.
<2> moves, be loaded into unloading.Piler moves to fixation means A from current location, then carries out loading operation; Move to fixation means B along minimal path after loading completes and unload; Move to Accreditation Waiting Area after having unloaded to wait for.
The task trigger unit of seal system is shaped with two kinds, and connection position triggers and worktable triggers.When connection position is not empty, scans all seal worktable, if there is no idle seal worktable, then wait for.If available free worktable, then calculate all unloaded pilers to the bee-line of connection position and required shortest time, the piler sending to required time the shortest job instruction.When worktable is for empty and when completing seal task, calculate all unloaded pilers to the bee-line of relevant work platform and required shortest time, the piler sending to required time the shortest job instruction.
(4) by three of electric energy metering device verification system part docking.After verification task is assigned, first scanning storage subsystem vertical library, then scans seal system vertical library.Storage subsystem vertical library has enough stocks, and the remaining space of seal system vertical library still has enough storage spaces after deducting the electric energy metering device quantity that system processing, then verification task is feasible; Otherwise it is infeasible.Keep realtime uniform can realize the docking of storage subsystem and calibrating subsystem the data of the data of storage subsystem connection position and calibrating subsystem connection position.It is finally the docking of calibrating subsystem and seal system.The data of calibrating subsystem and seal system joint position are kept realtime uniform, the docking of examining and determine subsystem and seal system can be realized.
(5) after a certain amount of verification task is assigned, the whether feasible judgement of task needs jointly to be judged by the running status of three systems, and process is as follows:
<1> stores in a warehouse the stock locking that subsystem not yet will complete in existing work program, then returns the electric energy metering device quantity that the inventory amounts, the piler that not yet lock in the inventory amounts of locking, on-hand inventory are being carried;
<2> examines and determine subsystem and scans running status, the electric energy metering device quantity that the electric energy metering device quantity that in retrieval system, AGV is carrying, verification table are being examined and determine;
<3> seal system scans running status, returns electric energy metering device quantity that piler carrying, just in the electric energy metering device quantity of seal, the residue storage capacity of vertical library.
The interface scans running status of <4> three digest journals, returns storage subsystem and examines and determine the electric energy metering device quantity of subsystem connection position, examines and determine the electric energy metering device quantity of subsystem and seal system joint position.
<5> is when the inventory amounts >=verification task amount of non-locking in storage subsystem, and electric energy metering device quantity+seal system heap stack machine that electric energy metering device quantity+verification table that the electric energy metering device quantity+AGV that the residue storage capacity of seal system >=the locked inventory amounts of verification task amount+storage subsystem+storage subsystem piler is being carried is carrying is being examined and determine electric energy metering device quantity+just of carrying is in the electric energy metering device quantity+calibrating subsystem of electric energy metering device quantity+storage subsystem with calibrating subsystem connection position of seal and the electric energy metering device quantity of seal system joint position, then production task is feasible.Otherwise it is infeasible.
After a certain amount of verification task activates, the operation of three subsystems is that synchronous coordination carries out.Its coordination process comprises following two aspects:
<1> examines and determine subsystem need not wait for that storage subsystem just comes into operation all in time examining and determine electric energy metering device and be all transported to connection position, but start the working procedure of calibrating subsystem when electric energy metering device is transported to connection position from vertical library by first piler, thus the follow-up transport operation of storage subsystem can be carried out simultaneously with the calibrating operation of calibrating subsystem.
<2> seal system need not wait for that calibrating type families system just comes into operation when needed seal electric energy metering device is all transported to connection position, but start the working procedure of seal system when electric energy metering device is transported to connection position from verification table by first AGV, thus the follow-up calibrating operation of examining and determine subsystem can be carried out simultaneously with the seal operation of seal system.
After a certain amount of verification task is assigned, the operational process of system is as follows.First judge that whether verification task is feasible.If infeasible, then return reason.Possible reason has two kinds, and one is that storage subsystem does not have enough stocks; Two be seal system there is no enough storage spaces.Can adjusting verification task in time after receiving feedback, or take other measures to improve operation management, as stocked up in time, shipment, or storage capacity being adjusted.As task is feasible, then operating simulation system can obtain the time that verification task needs.
By said method, 3 times are completed so far to electric energy metering device verification system multistage coordinated scheduling task.
Verification task is single-phase electric energy meter 200,000 for the first time.After task input, first system carries out status scan, acquisition system current state is: the inventory amounts 450,000 of non-locking in storage subsystem, storage locked 5.2 ten thousand of subsystem, storage subsystem piler is carrying 2000, AGV is carrying 600, verification table is examining and determine 2400, seal system heap stack machine is carrying 600, seal system is just seal 600, storage subsystem has 3000 with calibrating subsystem connection position, and calibrating subsystem and seal system joint position have 2400, the residue storage capacity of seal system 300,000.Judge that task feasibility is as feasible.Operating simulation system is known subsequently, and system can start to start this verification task after 7.5 hours, needed within 23.6 hours, complete this batch of verification task after task start.
Second time verification task is 240,000.After task input, first system carries out status scan, acquisition system current state is: in storage subsystem, the inventory amounts of non-locking is 300,000, in storage subsystem, locked inventory amounts is 130,000, storage subsystem piler is carrying 1600, AGV is carrying 800, verification table is examining and determine 2400, seal system heap stack machine is carrying 1800, seal system is just seal 800, storage subsystem has 2800 with calibrating subsystem connection position, calibrating subsystem and seal system joint position have 2000, the residue storage capacity of seal system 350,000.Judge that task feasibility is as infeasible, returning infeasible reason is seal system depot storage capacity shortcoming 32200.System scheme is 1) reduce this batch of task amount to 20.78 ten thousand, or 2) seal system spare storage capacity is promoted 32200.After adjustment, this verification task can be started after 16.8 hours, as adopted Adjusted Option 1), need within 24.5 hours, complete this verification task after task start; As adopted Adjusted Option 2) need within 28.3 hours, complete this verification task after task start.
Verification task is 300,000 for the third time.After task input, first system carries out status scan, acquisition system current state is: in storage subsystem, the inventory amounts of non-locking is 280,000, in storage subsystem, locked inventory amounts is 120,000, storage subsystem piler is carrying 1800, AGV is carrying 700, verification table is examining and determine 2400, seal system heap stack machine is carrying 1200, seal system is just seal 800, storage subsystem has 2600 with calibrating subsystem connection position, calibrating subsystem and seal system joint position have 2200, the residue storage capacity of seal system 450,000.Judge that task feasibility is as infeasible, returning infeasible reason is that storage subsystem non-locking stock lacks 20,000.System scheme is 1) reduce this batch of task amount to 28 ten thousand, or 2) subsystem replenishment of inventory 20,000 of storing in a warehouse.After adjustment, this verification task can be started after 15.3 hours, as adopted Adjusted Option 1), need within 33 hours, complete this verification task after task start; As adopted Adjusted Option 2) need within 35.4 hours, complete this verification task after task start.
Above-described embodiment does not limit the present invention in any form, and all technical schemes taking the form of equivalent replacement or equivalent transformation to obtain, all drop within protection scope of the present invention.
Claims (10)
1., based on the electric energy metering device verification system dispatching method of multi-Agent Simulation, it is characterized in that, comprise the following steps:
(1) adopt multi-Agent Simulation theoretical, set up the storage subsystem realistic model of electric energy metering device verification system, the operation rule of simulation storage subsystem;
(2) adopt multi-Agent Simulation theoretical, set up the calibrating subsystem realistic model of electric energy metering device verification system, the operation rule of simulation calibrating subsystem;
(3) adopt institute Agent simulation theory, set up the seal system simulation model of electric energy metering device verification system, the operation rule of simulation seal system;
(4) realistic model of the seal system of the storage subsystem of electric energy metering device verification system, the calibrating subsystem of electric energy metering device verification system and electric energy metering device verification system is docked, be integrated into electric energy metering device verification system realistic model;
(5) under different production tasks, electric energy metering device verification system realistic model is run, realize the mutual coordination to electric energy metering device verification system three phases by dry run situation, realize production task feasibility and complete prejudging and estimating of production task required time.
2. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 1, it is characterized in that, step (1), runs passage, relative position between piler Accreditation Waiting Area and the connection position from warehousing system to verification system and operational factor measure the vertical library comprised in storage subsystem, piler, piler; Then adopt multi-Agent Simulation method, set up the storage subsystem realistic model of electric energy metering device verification system, specifically comprise following content:
The first, run the relative position of passage and piler Accreditation Waiting Area according to vertical library, connection position, piler, generate the simulated environment in storage subsystem work place;
The second, generate the piler of respective numbers, and be piler setting operation rule;
3rd, the task of design storage subsystem triggers and operating mechanism: storage subsystem, when receiving verification task, first scans storage on hand, if on-hand inventory can meet mission requirements, then and triggering tasks; Otherwise feedback amount in short supply;
After task triggers, whether storage subsystem scans connection position is full, when connection position is discontented with, calculates the minimal path of all pilers to vertical library relevant position, and sends job instruction to nearest piler; If connection position is full, then feeds back the full information of connection position and wait for.
3. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 2, it is characterized in that, the operation rule of piler is: when piler receive instruction the electric energy metering device of some is transported to connection position from vertical library time, the rule of ac-tion taked is as follows:
<1> route calculation: calculate the minimal path of piler relative memory location from self-position to vertical library, vertical library respective memory locations to the minimal path of connection position;
<2> moves, be loaded into unloading: piler moves to the corresponding memory location of vertical library from current location, then carries out loading operation; Move to connection position along minimal path after loading completes and unload; Move to piler Accreditation Waiting Area after having unloaded to wait for.
4. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 1, it is characterized in that, in step (2), the connection position from storage subsystem to calibrating subsystem comprised in calibrating subsystem, calibrating subsystem are measured to the connection position of seal system, verification table, relative position AGV, AGV Accreditation Waiting Area and the electromagnetic path run for AGV and operational factor, then multi-Agent Simulation method is adopted, set up the calibrating subsystem realistic model of electric energy metering device verification system, specifically comprise following content:
The first, according to from storage subsystem to the connection position of calibrating subsystem, calibrating subsystem to the connection position of seal system, verification table, AGV Accreditation Waiting Area and the relative position of electromagnetic path that runs for AGV, generate the simulated environment in calibrating subsystem work place;
The second, the AGV generating some is also that AGV sets operation rule;
3rd, the task of design calibrating subsystem triggers and operating mechanism: carry out triggering tasks by connection position and verification table; When the connection position of subsystem to calibrating subsystem of storing in a warehouse is not empty, whether the corresponding verification table of system scan is idle; If there is no idle verification table, then wait for; If there is corresponding idle verification table, all AGV of system-computed complete existing task, then arrive storage subsystem and load electric energy meter to the connection position of calibrating subsystem and be transported to the minimal path of corresponding verification table and required shortest time; Then by task assignment to the shortest AGV of required time; When verification table is not empty and completes calibrating operation, the all AGV of system-computed complete existing task, then the electric energy meter that verification table has loaded calibrating is arrived, and be transported to calibrating subsystem to seal system connection position needed for minimal path and shortest time of correspondence, by task assignment to the shortest AGV of required time.
5. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 4, it is characterized in that, the operation rule of AGV comprises: for AGV idle arbitrarily, when receiving instruction and the workpiece of some being transported to stationary installation B from stationary installation A, the rule of ac-tion taked is as follows:
<1> route calculation: AGV calculates the minimal path of self-position to stationary installation A, and the minimal path of stationary installation A to stationary installation B;
<2> moves, load and unload: AGV, according to the result of calculation of regular <1>, first moves to stationary installation A by self-position, then carries out loading operation; After loading completes, then move to stationary installation B by stationary installation A, then carry out unloading operation;
<3> evades collision: AGV, in moving process, detects the situation that takies extending forward 2 meters of places likely path along track in real time; If track is occupied, then stops moving and move forward after waiting for 3-5 second.
6. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 4, it is characterized in that, the operation rule of AGV comprises: for AGV idle arbitrarily, when not receiving work order and not in Accreditation Waiting Area, the rule of ac-tion taked is as follows:
<1> route calculation: AGV calculates the minimal path of self-position to all available Accreditation Waiting Areas;
<2> moves to Accreditation Waiting Area: the result of calculation that AGV calculates according to regular <1>, moves to nearest Accreditation Waiting Area and waits for.
7. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 1, it is characterized in that, in step (3), to the worktable in seal system, piler, vertical library, piler run passage, piler Accreditation Waiting Area and from calibrating subsystem to seal system connection position relative position and operational factor measure, then multi-Agent method is adopted, set up the seal system simulation model of electric energy metering device verification system, specifically comprise following content:
First: the relative position running passage, piler Accreditation Waiting Area and worktable according to vertical library, connection position, piler, generates the simulated environment in seal system works place;
The second, generate the piler of respective numbers, and be piler setting operation rule;
3rd, the task of design seal system triggers and operating mechanism: the task trigger unit of seal system is shaped with two kinds, and connection position triggers and worktable triggers;
When connection position is not empty, scans all seal worktable, if there is no idle seal worktable, then wait for; If available free worktable, then calculate all unloaded pilers to the bee-line of connection position and required shortest time, the piler sending to required time the shortest job instruction; When worktable is for empty and when completing seal task, calculate all unloaded pilers to the bee-line of relevant work platform and required shortest time, the piler sending to required time the shortest job instruction.
8. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 7, it is characterized in that, piler operation rule be: when piler receive instruction the electric energy metering device of some is transported to fixation means B from fixation means A time, the rule of ac-tion taked is as follows:
<1> route calculation: calculate piler from self-position to the minimal path of fixation means A, the minimal path of fixation means to A to fixation means B;
<2> moves, load and unload: piler moves to fixation means A from current location, then carries out loading operation; Move to fixation means B along minimal path after loading completes and unload; Move to Accreditation Waiting Area after having unloaded to wait for.
9. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 1, it is characterized in that, in step (4), the process of docking is, first be the docking that verification task feasibility judges: after verification task is assigned, first the vertical library of scanning storage subsystem, then scans the vertical library of seal system; The vertical library of storage subsystem has enough stocks, and the remaining space of the vertical library of seal system still has enough storage spaces after deducting the electric energy metering device quantity processed, then verification task is feasible; Otherwise it is infeasible;
Then be the docking between storage subsystem and calibrating subsystem: keep realtime uniform namely to realize store in a warehouse subsystem and the docking of examining and determine subsystem the data of subsystem connection position of storing in a warehouse and the data of calibrating subsystem connection position;
Finally the docking of calibrating subsystem and seal system: the data of calibrating subsystem and seal system joint position are kept realtime uniform, namely realizes the docking of calibrating subsystem and seal system.
10. the electric energy metering device verification system dispatching method based on multi-Agent Simulation according to claim 1, it is characterized in that, in step (5), the coordination of electric energy metering device verification system three phases comprises the coordination that verification task feasibility judges coordination and electric energy metering device verification process;
Coordination process is as follows:
The first, task feasibility judges to coordinate: after a certain amount of verification task is assigned, and the whether feasible judgement of task is judged jointly by the running status of three subsystems, and process is as follows:
<51a> stores in a warehouse the stock locking that subsystem not yet will complete in existing work program, then returns the electric energy metering device quantity that the inventory amounts, the piler that not yet lock in the inventory amounts of locking, on-hand inventory are being carried;
<52a> examines and determine subsystem and scans running status, the electric energy metering device quantity that the electric energy metering device quantity that in retrieval system, AGV is carrying, verification table are being examined and determine;
<53a> seal system scans running status, returns electric energy metering device quantity that piler carrying, just in the electric energy metering device quantity of seal, the residue storage capacity of vertical library;
The interface scans running status of <54a> tri-subsystems, returns storage subsystem and examines and determine the electric energy metering device quantity of subsystem connection position, examines and determine the electric energy metering device quantity of subsystem and seal system joint position;
<55a> is when the inventory amounts >=verification task amount of non-locking in storage subsystem, and electric energy metering device quantity+piler that electric energy metering device quantity+verification table that the electric energy metering device quantity+AGV that the inventory amounts of the residue storage capacity of seal system >=verification task amount+storage subsystem non-locking+storage subsystem piler is being carried is carrying is being examined and determine electric energy metering device quantity+just of carrying is in the electric energy metering device quantity+calibrating subsystem of electric energy metering device quantity+storage subsystem with calibrating subsystem connection position of seal and the electric energy metering device quantity of seal system joint position, then production task is feasible, otherwise it is infeasible,
The second, electric energy metering device verification process is coordinated: after a certain amount of verification task activates, the operation synchronous coordination of three subsystems carries out, and coordination process comprises following two aspects:
<51b> examines and determine subsystem: when electric energy metering device is transported to connection position from vertical library by first piler and startup optimization program, and the calibrating operation of the follow-up transport operation of storage subsystem and calibrating subsystem is carried out simultaneously;
<52b> seal system: when electric energy metering device is transported to connection position from verification table by first AGV and startup optimization program, makes the follow-up calibrating operation of calibrating subsystem and the seal operation of seal system carry out simultaneously.
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