基于CVCS的浮法玻璃冷端机械手堆垛系统调度问题  

Float Glass Cold-End Manipulator Stacking System Scheduling Based on CVCS

作　　者：段雯娟 徐震浩[1] 顾幸生[1] DUAN Wenjuan;XU Zhenhao;GU Xingsheng(Key Laboratory of Smart Manufacturing in Energy Chemical Processes,Ministry of Education,East China University of Science and Technology,Shanghai 200237,China)

机构地区：[1]华东理工大学能源化工过程智能制造教育部重点实验室,上海200237

出　　处：《华东理工大学学报（自然科学版）》2024年第5期708-719,共12页Journal of East China University of Science and Technology

基　　金：国家自然科学基金(61973120,62076095)。

摘　　要：采用目前生产线上常用的高速堆垛机(High-Speed-Stacker, HSS)和即时分拣机(Pick-on-the-Fly,POF)两种机械手分别堆垛不同规格的玻璃原片,目标是最小化玻璃的废料率。针对切割和抓取自动化过程,提出了一种组合Unit的方法最大化生产效率,并在此基础上采用了平衡Unit的优化方法。根据两种类型机械手是否同时工作,提出了混合抓取和分类抓取两种解决方案。最后针对抓取阶段的特点提出了一种组合变异布谷鸟搜索(Combination Variation Cuckoo Search,CVCS)算法,引入了内外逆序和多领域插入变异操作,防止算法陷入局部最优。仿真实验采用响应面分析法对CVCS进行参数标定。并将CVCS与MMGA、BPSO、DABC、CS算法进行了对比分析,实验结果验证了CVCS算法解决该问题的优越性。The scheduling problem of different types of robotic hand stacking system at the cold-end of float glass was studied.The problem was divided into two stages:cutting stage and grasping stage.In the cutting stage,a certain number of sheets were rationally arranged on the glass belt.In the grasping stage,High-Speed-Stacker(HSS)and Pick-on-the-Fly(POF)manipulators were used to stack sheets of different specifications,respectively,and the goal was to minimize the waste rate of glass.According to whether the two types of manipulators work at the same time,the problem proposed two solutions:mixed grasp and classified grasp,and the optimization method of Balance Unit.In the grasping stage,a combination variation cuckoo search algorithm(CVCS)was proposed,which introduced internal and external reverse order and multi-field insertion mutation operations to prevent the algorithm from falling into local optimum.In the simulation experiment,the response surface analysis method was used to calibrate the parameters of CVCS.CVCS algorithm was compared with MMGA,BPSO,DABC and CS algorithm.The experimental results show the superiority of CVCS algorithm in solving this problem.

关 键 词：堆垛系统 平衡Unit 混合抓取 分类抓取 响应面分析法 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]