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启发式产线分配

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hit_lu
2023-07-16 23:19:34 +08:00
parent 6e56f796f0
commit 96430a4b6c
11 changed files with 439 additions and 200 deletions
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76
result_analysis.py
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@ -362,14 +362,24 @@ def optimization_assign_result(component_data, pcb_data, component_result, cycle
nozzle_assign = pd.DataFrame(columns=columns)
for cycle, components in enumerate(component_result):
nozzle_assign.loc[cycle, 'cycle'] = cycle_result[cycle]
nozzle_assign_row = len(nozzle_assign)
nozzle_assign.loc[nozzle_assign_row, 'cycle'] = cycle_result[cycle]
for head in range(max_head_index):
index = component_result[cycle][head]
if index == -1:
nozzle_assign.loc[cycle, 'H{}'.format(head + 1)] = ''
nozzle_assign.loc[nozzle_assign_row, 'H{}'.format(head + 1)] = ''
else:
nozzle = component_data.loc[index]['nz']
nozzle_assign.loc[cycle, 'H{}'.format(head + 1)] = nozzle
nozzle_assign.loc[nozzle_assign_row, 'H{}'.format(head + 1)] = nozzle
for head in range(max_head_index):
if nozzle_assign_row == 0 or nozzle_assign.loc[nozzle_assign_row - 1, 'H{}'.format(head + 1)] != \
nozzle_assign.loc[nozzle_assign_row, 'H{}'.format(head + 1)]:
break
else:
nozzle_assign.loc[nozzle_assign_row - 1, 'cycle'] += nozzle_assign.loc[nozzle_assign_row, 'cycle']
nozzle_assign.drop([len(nozzle_assign) - 1], inplace=True)
print(nozzle_assign)
print('')
@ -449,17 +459,13 @@ def placement_time_estimate(component_data, pcb_data, component_result, cycle_re
warnings.warn(info, UserWarning)
return 0.
t_pick, t_place = .078, .051 # 贴装/拾取用时
t_nozzle_put, t_nozzle_pick = 0.9, 0.75 # 装卸吸嘴用时
t_fix_camera_check = 0.12 # 固定相机检测时间
total_moving_time = .0 # 总移动用时
total_operation_time = .0 # 操作用时
total_nozzle_change_counter = 0 # 总吸嘴更换次数
total_pick_counter = 0 # 总拾取次数
total_mount_distance, total_pick_distance = .0, .0 # 贴装距离、拾取距离
total_distance = 0 # 总移动距离
cur_pos, next_pos = anc_marker_pos, [0, 0] # 贴装头当前位置
total_pickup_time, total_round_time, total_place_time = .0, .0, 0 # 拾取用时、往返用时、贴装用时
total_operation_time = .0 # 操作用时
total_nozzle_change_counter = 0 # 总吸嘴更换次数
total_pick_counter = 0 # 总拾取次数
total_mount_distance, total_pick_distance = .0, .0 # 贴装距离、拾取距离
total_distance = 0 # 总移动距离
cur_pos, next_pos = anc_marker_pos, [0, 0] # 贴装头当前位置
# 初始化首个周期的吸嘴装配信息
nozzle_assigned = ['Empty' for _ in range(max_head_index)]
@ -492,8 +498,10 @@ def placement_time_estimate(component_data, pcb_data, component_result, cycle_re
# ANC处进行吸嘴更换
if nozzle_pick_counter + nozzle_put_counter > 0:
next_pos = anc_marker_pos
total_moving_time += max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
axis_moving_time(cur_pos[1] - next_pos[1], 1))
move_time = max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
axis_moving_time(cur_pos[1] - next_pos[1], 1))
total_round_time += move_time
total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1]))
cur_pos = next_pos
@ -501,15 +509,21 @@ def placement_time_estimate(component_data, pcb_data, component_result, cycle_re
pick_slot = sorted(pick_slot, reverse=True)
# 拾取路径(自右向左)
for slot in pick_slot:
for idx, slot in enumerate(pick_slot):
if slot < max_slot_index // 2:
next_pos = [slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1]]
else:
next_pos = [slotr1_pos[0] - slot_interval * (max_slot_index - slot - 1), slotr1_pos[1]]
total_operation_time += t_pick
total_pick_counter += 1
total_moving_time += max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
axis_moving_time(cur_pos[1] - next_pos[1], 1))
move_time = max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
axis_moving_time(cur_pos[1] - next_pos[1], 1))
if idx == 0:
total_round_time += move_time
else:
total_pickup_time += move_time
total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1]))
if slot != pick_slot[0]:
total_pick_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1]))
@ -522,8 +536,10 @@ def placement_time_estimate(component_data, pcb_data, component_result, cycle_re
camera = component_data.loc[component_result[cycle_set][head]]['camera']
if camera == '固定相机':
next_pos = [fix_camera_pos[0] - head * head_interval, fix_camera_pos[1]]
total_moving_time += max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
axis_moving_time(cur_pos[1] - next_pos[1], 1))
move_time = max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
axis_moving_time(cur_pos[1] - next_pos[1], 1))
total_round_time += move_time
total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1]))
total_operation_time += t_fix_camera_check
cur_pos = next_pos
@ -545,22 +561,26 @@ def placement_time_estimate(component_data, pcb_data, component_result, cycle_re
# 考虑R轴预旋转，补偿同轴角度转动带来的额外贴装用时
total_operation_time += head_rotary_time(mount_angle[0]) # 补偿角度转动带来的额外贴装用时
total_operation_time += t_nozzle_put * nozzle_put_counter + t_nozzle_pick * nozzle_pick_counter
for pos in mount_pos:
for idx, pos in enumerate(mount_pos):
total_operation_time += t_place
total_moving_time += max(axis_moving_time(cur_pos[0] - pos[0], 0),
axis_moving_time(cur_pos[1] - pos[1], 1))
move_time = max(axis_moving_time(cur_pos[0] - pos[0], 0), axis_moving_time(cur_pos[1] - pos[1], 1))
if idx == 0:
total_round_time += move_time
else:
total_place_time += move_time
total_distance += max(abs(cur_pos[0] - pos[0]), abs(cur_pos[1] - pos[1]))
cur_pos = pos
total_nozzle_change_counter += nozzle_put_counter + nozzle_pick_counter
total_time = total_moving_time + total_operation_time
total_time = total_pickup_time + total_round_time + total_place_time + total_operation_time
minutes, seconds = int(total_time // 60), int(total_time) % 60
millisecond = int((total_time - minutes * 60 - seconds) * 60)
if hinter:
optimization_assign_result(component_data, pcb_data, component_result, cycle_result, feeder_slot_result,
nozzle_hinter=True, component_hinter=True, feeder_hinter=True)
nozzle_hinter=False, component_hinter=False, feeder_hinter=False)
print('-Cycle counter: {}'.format(sum(cycle_result)))
print('-Nozzle change counter: {}'.format(total_nozzle_change_counter // 2))
@ -570,7 +590,9 @@ def placement_time_estimate(component_data, pcb_data, component_result, cycle_re
print('-Expected picking tour length: {} mm'.format(total_pick_distance))
print('-Expected total tour length: {} mm'.format(total_distance))
print('-Expected total moving time: {} s'.format(total_moving_time))
print('-Expected total moving time: {} s with pick: {}, round: {}, place = {}'.format(
total_pickup_time + total_round_time + total_place_time, total_pickup_time, total_round_time,
total_place_time))
print('-Expected total operation time: {} s'.format(total_operation_time))
if minutes > 0: