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调整工程架构，增补了几种算法，初步添加神经网路训练拟合代码

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hit-lu
2024-03-29 22:10:07 +08:00
parent 800057e000
commit bae7e4e2c3
18 changed files with 2459 additions and 354 deletions
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147
base_optimizer/optimizer_feederpriority.py
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@ -13,20 +13,20 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
feeder_base = [-2] * max_slot_index # 已安装在供料器基座上的元件（-2: 未分配，-1: 占用状态）
feeder_base_points = [0] * max_slot_index # 供料器基座结余贴装点数量
for data in pcb_data.iterrows():
pos, part = data[1]['x'] + stopper_pos[0], data[1]['part']
for _, data in pcb_data.iterrows():
pos, part = data.x + stopper_pos[0], data.part
part_index = component_data[component_data['part'] == part].index.tolist()[0]
part_index = component_data[component_data.part == part].index.tolist()[0]
if part not in component_data:
feeder_limit[part_index] = component_data.loc[part_index]['feeder-limit']
feeder_arrange[part_index] = 0
feeder_points[part_index] += 1
mount_center_pos[part_index] += ((pos - mount_center_pos[part_index]) / feeder_points[part_index])
part_nozzle[part_index] = component_data.loc[part_index]['nz']
part_nozzle[part_index] = component_data.loc[part_index].nz
for part_index, points in feeder_points.items():
feeder_division_points[part_index] = max(points // feeder_limit[part_index], 1)
feeder_division_points[part_index] = points // feeder_limit[part_index]
nozzle_component, nozzle_component_points = defaultdict(list), defaultdict(list)
for part, nozzle in part_nozzle.items():
@ -36,13 +36,13 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
if feeder_data is not None:
for _, feeder in feeder_data.iterrows():
slot, part = feeder['slot'], feeder['part']
part_index = component_data[component_data['part'] == part].index.tolist()[0]
slot, part = feeder.slot, feeder.part
part_index = component_data[component_data.part == part].index.tolist()[0]
# 供料器基座分配位置和对应贴装点数
feeder_base[slot], feeder_base_points[slot] = part_index, feeder_division_points[part_index]
feeder_type = component_data.loc[part_index]['fdr']
feeder_type = component_data.loc[part_index].fdr
extra_width = feeder_width[feeder_type][0] + feeder_width[feeder_type][1] - slot_interval
while extra_width > 0:
slot += 1
@ -75,15 +75,60 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
nozzle_pattern_list.sort(key=lambda x: x[1], reverse=True)
# 后确定吸嘴分配模式
head_index = [3, 2, 4, 1, 5, 0]
nozzle_pattern = [0] * max_head_index
for nozzle, _ in nozzle_pattern_list:
counter = nozzle_assigned_counter[nozzle]
upper_head, extra_head = defaultdict(int), defaultdict(int)
head_index = []
for nozzle, head in nozzle_assigned_counter.items():
# 每个吸嘴能达成同时拾取数目的上限
upper_head[nozzle] = min(len(nozzle_component[nozzle]), head)
extra_head[nozzle] = head - upper_head[nozzle]
head_counter = (sum(upper_head.values()) - 1) // 2
while head_counter >= 0:
if head_counter != (sum(upper_head.values()) - 1) - head_counter:
head_index.append((sum(upper_head.values()) - 1) - head_counter)
head_index.append(head_counter)
head_counter -= 1
nozzle_pattern = [None for _ in range(sum(upper_head.values()))]
for nozzle in upper_head.keys():
counter = upper_head[nozzle]
while counter:
nozzle_pattern[head_index[0]] = nozzle
counter -= 1
head_index.pop(0)
head = 0
while head + sum(extra_head.values()) <= len(nozzle_pattern):
extra_head_cpy = copy.deepcopy(extra_head)
increment = 0
while increment < sum(extra_head.values()):
extra_head_cpy[nozzle_pattern[head + increment]] -= 1
increment += 1
check_extra_head = True
for head_ in extra_head_cpy.values():
if head_ != 0:
check_extra_head = False # 任一项不为0， 说明不构成
break
if check_extra_head:
increment = 0
while increment < sum(extra_head.values()):
nozzle_pattern.append(nozzle_pattern[head + increment])
increment += 1
for nozzle in extra_head.keys():
extra_head[nozzle] = 0
break
head += 1
for nozzle, head_ in extra_head.items():
while head_:
nozzle_pattern.append(nozzle)
head_ -= 1
assert len(nozzle_pattern) == max_head_index
while True:
best_assign, best_assign_points = [], []
best_assign_slot, best_assign_value = -1, -np.Inf
@ -162,7 +207,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
part = tmp_nozzle_component[nozzle_assign][index_]
feeder_type = component_data.loc[part]['fdr']
feeder_type = component_data.loc[part].fdr
extra_width, extra_slot = feeder_width[feeder_type][0] + feeder_width[feeder_type][1] - slot_interval, 1
slot_overlap = False
while extra_width > 0:
@ -210,7 +255,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
continue
for idx, part in enumerate(assign_part_stack):
feeder_type = component_data.loc[part]['fdr']
feeder_type = component_data.loc[part].fdr
extra_width, extra_slot = feeder_width[feeder_type][0] + feeder_width[feeder_type][
1] - slot_interval, 1
@ -223,7 +268,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
extra_width -= slot_interval
extra_slot += 1
if component_data.loc[part]['nz'] == nozzle_pattern[head] and not slot_overlap:
if component_data.loc[part].nz == nozzle_pattern[head] and not slot_overlap:
feeder_assign[head], feeder_assign_points[head] = assign_part_stack[idx], \
assign_part_stack_points[idx]
@ -237,7 +282,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
continue
part, points = assign_part_stack[0], assign_part_stack_points[0]
feeder_type = component_data.loc[part]['fdr']
feeder_type = component_data.loc[part].fdr
extra_width, extra_slot = feeder_width[feeder_type][0] + feeder_width[feeder_type][1] - slot_interval, 1
slot_overlap = False
@ -259,7 +304,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
extra_width -= head_interval
else:
# 返还由于机械限位无法分配的，压入元件堆栈中的元素
nozzle = component_data.loc[part]['nz']
nozzle = component_data.loc[part].nz
tmp_nozzle_component[nozzle].insert(0, part)
tmp_nozzle_component_points[nozzle].insert(0, points)
@ -269,7 +314,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
# 仍然存在由于机械限位，无法进行分配的在堆栈中的元件
while assign_part_stack:
part, points = assign_part_stack[0], assign_part_stack_points[0]
nozzle = component_data.loc[part]['nz']
nozzle = component_data.loc[part].nz
tmp_nozzle_component[nozzle].insert(0, part)
tmp_nozzle_component_points[nozzle].insert(0, points)
@ -283,7 +328,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
continue
average_slot.append(
(mount_center_pos[feeder_] - slotf1_pos[0]) / slot_interval + 1 - head * interval_ratio)
if nozzle_pattern and component_data.loc[feeder_]['nz'] != nozzle_pattern[head]:
if nozzle_pattern and component_data.loc[feeder_].nz != nozzle_pattern[head]:
nozzle_change_counter += 1
if len(average_slot) == 0:
@ -349,7 +394,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
# 更新供料器基座信息
feeder_base[best_assign_slot + idx * interval_ratio] = part
feeder_type, extra_slot = component_data.loc[part]['fdr'], 0
feeder_type, extra_slot = component_data.loc[part].fdr, 0
extra_width = feeder_width[feeder_type][0] + feeder_width[feeder_type][1] - slot_interval
while extra_width > 0:
extra_slot += 1
@ -358,7 +403,7 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
extra_width -= slot_interval
# 更新吸嘴信息
nozzle_pattern[idx] = component_data.loc[part]['nz']
nozzle_pattern[idx] = component_data.loc[part].nz
# 更新头分配的先后顺序
head_assign_indexes = np.array(best_assign_points).argsort().tolist()
@ -376,11 +421,10 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
if not optimal_nozzle_points:
feeder_base, feeder_base_points = [-2] * max_slot_index, [0] * max_slot_index
for _, feeder in feeder_data.iterrows():
slot, part = feeder['slot'], feeder['part']
part_index = component_data[component_data['part'] == part].index.tolist()[0]
part_index = component_data[component_data.part == feeder.part].index.tolist()[0]
# 供料器基座分配位置和对应贴装点数
feeder_base[slot], feeder_base_points[slot] = part_index, feeder_division_points[part_index]
feeder_base[feeder.slot], feeder_base_points[feeder.slot] = part_index, feeder_division_points[part_index]
# 前基座 TODO: 后基座
for slot in range(max_slot_index // 2 - (max_head_index - 1) * interval_ratio):
@ -397,12 +441,12 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
# 更新供料器占位信息
for _, data in feeder_data.iterrows():
feeder_base[data['slot']] = -1
feeder_base[data.slot] = -1
for slot, feeder in enumerate(feeder_base):
if feeder < 0:
continue
part = component_data.loc[feeder]['part']
part = component_data.loc[feeder].part
feeder_data.loc[len(feeder_data.index)] = [slot, part, 0]
@ -414,20 +458,19 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
size=8)
feeder_assign_range = []
for feeder in feeder_data.iterrows():
slot, part = feeder[1]['slot'], feeder[1]['part']
part_index = component_data[component_data['part'] == part].index.tolist()[0]
feeder_type = component_data.loc[part_index]['fdr']
for _, feeder in feeder_data.iterrows():
part_index = component_data[component_data.part == feeder.part].index.tolist()[0]
feeder_type = component_data.loc[part_index].fdr
width = feeder_width[feeder_type][0] + feeder_width[feeder_type][1]
start = slotf1_pos[0] + slot_interval * (slot - 1) - slot_interval / 2
end = slotf1_pos[0] + slot_interval * (slot - 1) - slot_interval / 2 + width
start = slotf1_pos[0] + slot_interval * (feeder.slot - 1) - slot_interval / 2
end = slotf1_pos[0] + slot_interval * (feeder.slot - 1) - slot_interval / 2 + width
rec_x = [start, end, end, start]
rec_y = [slotf1_pos[1] - 40, slotf1_pos[1] - 40, slotf1_pos[1] + 10, slotf1_pos[1] + 10]
c = 'red' if feeder[1]['arg'] == 0 else 'black' # 黑色表示已分配，红色表示新分配
plt.text(slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1] + 12,
part + ': ' + str(feeder_points[part_index]), ha='center', size=7, rotation=90, color=c)
c = 'red' if feeder.arg == 0 else 'black' # 黑色表示已分配，红色表示新分配
plt.text(slotf1_pos[0] + slot_interval * (feeder.slot - 1), slotf1_pos[1] + 12,
feeder.part + ': ' + str(feeder_points[part_index]), ha='center', size=7, rotation=90, color=c)
plt.fill(rec_x, rec_y, facecolor='yellow', alpha=0.4)
@ -461,30 +504,28 @@ def feeder_allocate(component_data, pcb_data, feeder_data, figure=False):
@timer_wrapper
def feeder_base_scan(component_data, pcb_data, feeder_data, nozzle_pattern):
feeder_assign_check = set()
for feeder in feeder_data.iterrows():
feeder_assign_check.add(feeder[1]['part'])
for _, feeder in feeder_data.iterrows():
feeder_assign_check.add(feeder.part)
component_points = [0] * len(component_data)
for step in pcb_data.iterrows():
part = step[1]['part']
part_index = component_data[component_data['part'] == part].index.tolist()[0]
for i, data in pcb_data.iterrows():
part_index = component_data[component_data.part == data.part].index.tolist()[0]
component_points[part_index] += 1
nozzle_type = component_data.loc[part_index]['nz']
nozzle_type = component_data.loc[part_index].nz
if nozzle_type not in nozzle_limit.keys() or nozzle_limit[nozzle_type] <= 0:
info = 'there is no available nozzle [' + nozzle_type + '] for the assembly process'
raise ValueError(info)
assert len(feeder_assign_check) == len(component_points) - component_points.count(0) # 所有供料器均已分配槽位
feeder_part = [-1] * max_slot_index
for feeder in feeder_data.iterrows():
part, slot = feeder[1]['part'], feeder[1]['slot']
part_index = component_data[component_data['part'] == part].index.tolist()
if len(part_index) != 1:
print('unregistered component: ', part, ' in slot', slot)
for _, data in feeder_data.iterrows():
component_index = component_data[component_data.part == data.part].index.tolist()
if len(component_index) != 1:
print('unregistered component: ', data.part, ' in slot', data.slot)
continue
part_index = part_index[0]
feeder_part[slot] = part_index
component_index = component_index[0]
feeder_part[data.slot] = component_index
component_result, cycle_result, feeder_slot_result = [], [], [] # 贴装点索引和拾取槽位优化结果
@ -539,7 +580,7 @@ def feeder_base_scan(component_data, pcb_data, feeder_data, nozzle_pattern):
if scan_part[head] == -1 and part != -1 and component_points[part] > 0 and scan_part.count(
part) < component_points[part]:
# 2.匹配条件满足：不超过可用吸嘴数的限制
nozzle = component_data.loc[part]['nz']
nozzle = component_data.loc[part].nz
if scan_nozzle_limit[nozzle] <= 0:
continue
@ -591,7 +632,7 @@ def feeder_base_scan(component_data, pcb_data, feeder_data, nozzle_pattern):
for head, nozzle in enumerate(nozzle_cycle):
if scan_part[head] == -1:
continue
if component_data.loc[scan_part[head]]['nz'] != nozzle and nozzle != '':
if component_data.loc[scan_part[head]].nz != nozzle and nozzle != '':
nozzle_counter += 2
# 下一周期（额外增加的吸嘴更换次数）
@ -602,7 +643,7 @@ def feeder_base_scan(component_data, pcb_data, feeder_data, nozzle_pattern):
prev_counter, new_counter = 0, 0
if nozzle_cycle[head] != nozzle and nozzle_cycle[head] != '' and nozzle != '':
prev_counter += 2
if component_data.loc[scan_part[head]]['nz'] != nozzle and nozzle != '':
if component_data.loc[scan_part[head]].nz != nozzle and nozzle != '':
new_counter += 2
nozzle_counter += new_counter - prev_counter
else:
@ -612,7 +653,7 @@ def feeder_base_scan(component_data, pcb_data, feeder_data, nozzle_pattern):
prev_counter, new_counter = 0, 0
if nozzle_cycle[head] != nozzle and nozzle_cycle[head] != '' and nozzle != '':
prev_counter += 2
if component_data.loc[scan_part[head]]['nz'] != nozzle and nozzle != '':
if component_data.loc[scan_part[head]].nz != nozzle and nozzle != '':
new_counter += 2
nozzle_counter += new_counter - prev_counter
@ -708,7 +749,7 @@ def feeder_base_scan(component_data, pcb_data, feeder_data, nozzle_pattern):
for head, component in enumerate(assigned_part):
if component == -1:
continue
cycle_nozzle[head] = component_data.loc[component]['nz']
cycle_nozzle[head] = component_data.loc[component].nz
nozzle_mode.insert(nozzle_insert_cycle + 1, cycle_nozzle)