580 lines
27 KiB
Python
580 lines
27 KiB
Python
from optimizer_common import *
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# 绘制各周期从供料器周期拾取的元件位置
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def pickup_cycle_schematic(feeder_slot_result, cycle_result):
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plt.rcParams['font.sans-serif'] = ['KaiTi'] # 指定默认字体
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plt.rcParams['axes.unicode_minus'] = False # 解决保存图像是负号'-'显示为方块的问题
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# data
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bar_width = .7
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feeder_part = np.zeros((int)(max_slot_index / 2), dtype = np.int)
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for cycle in range(len(feeder_slot_result)):
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label_str = '周期' + str(cycle + 1)
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cur_feeder_part = np.zeros((int)(max_slot_index / 2), dtype = np.int)
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for slot in feeder_slot_result[cycle]:
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if slot > 0:
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cur_feeder_part[slot] += cycle_result[cycle]
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plt.bar(np.arange(max_slot_index / 2), cur_feeder_part, bar_width, edgecolor='black', bottom=feeder_part,
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label=label_str)
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for slot in feeder_slot_result[cycle]:
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if slot > 0:
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feeder_part[slot] += cycle_result[cycle]
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plt.legend()
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plt.show()
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def placement_route_schematic(pcb_data, component_result, cycle_result, feeder_slot_result, placement_result,
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head_sequence, cycle=-1):
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plt.figure('cycle {}'.format(cycle + 1))
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pos_x, pos_y = [], []
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for i in range(len(pcb_data)):
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pos_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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pos_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(pcb_data.loc[i]['x'], pcb_data.loc[i]['y'] + 0.1, '%d' % i, ha='center', va = 'bottom', size = 8)
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mount_pos = []
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for head in head_sequence[cycle]:
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index = placement_result[cycle][head]
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plt.text(pos_x[index], pos_y[index] + 0.1, 'HD%d' % (head + 1), ha='center', va = 'bottom', size = 10)
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plt.plot([pos_x[index], pos_x[index] - head * head_interval], [pos_y[index], pos_y[index]], linestyle='-.',
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color='black', linewidth=1)
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mount_pos.append([pos_x[index] - head * head_interval, pos_y[index]])
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plt.plot(mount_pos[-1][0], mount_pos[-1][1], marker='^', color='red', markerfacecolor='white')
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# plt.text(mount_pos[-1][0], mount_pos[-1][1], '%d' % index, size=8)
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# 绘制贴装路径
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for i in range(len(mount_pos) - 1):
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plt.plot([mount_pos[i][0], mount_pos[i + 1][0]], [mount_pos[i][1], mount_pos[i + 1][1]], color='blue', linewidth=1)
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draw_x, draw_y = [], []
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for c in range(cycle, len(placement_result)):
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for h in range(max_head_index):
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i = placement_result[c][h]
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if i == -1:
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continue
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draw_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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draw_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(draw_x[-1], draw_y[-1] - 5, '%d' % i, ha='center', va='bottom', size=10)
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plt.scatter(draw_x, draw_y, s=8)
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# 绘制供料器位置布局
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for slot in range(max_slot_index // 2):
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plt.scatter(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1], marker = 'x', s = 12, color = 'green')
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plt.text(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1] - 50, slot + 1, ha = 'center', va = 'bottom', size = 8)
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feeder_part, feeder_counter = {}, {}
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placement_cycle = 0
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for cycle_, components in enumerate(component_result):
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for head, component in enumerate(components):
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if component == -1:
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continue
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placement = placement_result[placement_cycle][head]
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slot = feeder_slot_result[cycle_][head]
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feeder_part[slot] = pcb_data.loc[placement]['part']
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if slot not in feeder_counter.keys():
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feeder_counter[slot] = 0
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feeder_counter[slot] += cycle_result[cycle_]
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placement_cycle += cycle_result[cycle_]
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for slot, part in feeder_part.items():
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plt.text(slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1] + 15, part + ': ' + str(feeder_counter[slot]), ha = 'center', size = 7, rotation = 90)
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plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] + 10, slotf1_pos[1] + 10], color = 'black')
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plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] - 40, slotf1_pos[1] - 40], color = 'black')
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for counter in range(max_slot_index // 2 + 1):
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pos = slotf1_pos[0] + (counter - 0.5) * slot_interval
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plt.plot([pos, pos], [slotf1_pos[1] + 10, slotf1_pos[1] - 40], color='black', linewidth = 1)
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# 绘制拾取路径
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pick_slot = []
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cycle_group = 0
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while sum(cycle_result[0: cycle_group + 1]) < cycle:
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cycle_group += 1
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for head, slot in enumerate(feeder_slot_result[cycle_group]):
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if slot == -1:
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continue
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pick_slot.append(slot - head * interval_ratio)
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pick_slot = list(set(pick_slot))
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pick_slot = sorted(pick_slot)
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next_cycle_group = 0
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next_pick_slot = max_slot_index
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while sum(cycle_result[0: next_cycle_group + 1]) < cycle + 1:
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next_cycle_group += 1
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if next_cycle_group < len(feeder_slot_result):
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for head, slot in enumerate(feeder_slot_result[cycle_group]):
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if slot == -1:
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continue
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next_pick_slot = min(next_pick_slot, slot - head * interval_ratio)
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# 前往PCB贴装
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plt.plot([mount_pos[-1][0], slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [mount_pos[-1][1], slotf1_pos[1]],
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color='blue', linewidth=1)
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# 基座移动路径
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plt.plot([slotf1_pos[0] + slot_interval * (pick_slot[0] - 1), slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)],
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[slotf1_pos[1], slotf1_pos[1]], color='blue', linewidth=1)
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# 返回基座取料
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plt.plot([mount_pos[0][0], slotf1_pos[0] + slot_interval * (next_pick_slot - 1)], [mount_pos[0][1], slotf1_pos[1]],
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color='blue', linewidth=1)
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plt.show()
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def save_placement_route_figure(file_name, pcb_data, component_result, cycle_result, feeder_slot_result, placement_result, head_sequence):
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path = 'result/' + file_name[:file_name.find('.')]
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if not os.path.exists(path):
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os.mkdir(path)
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pos_x, pos_y = [], []
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for i in range(len(pcb_data)):
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pos_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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pos_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(pcb_data.loc[i]['x'], pcb_data.loc[i]['y'] + 0.1, '%d' % i, ha='center', va = 'bottom', size = 8)
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with tqdm(total=100) as pbar:
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pbar.set_description('save figure')
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for cycle in range(len(placement_result)):
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plt.figure(cycle)
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mount_pos = []
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for head in head_sequence[cycle]:
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index = placement_result[cycle][head]
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plt.text(pos_x[index], pos_y[index] + 0.1, 'HD%d' % (head + 1), ha='center', va='bottom', size=10)
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plt.plot([pos_x[index], pos_x[index] - head * head_interval], [pos_y[index], pos_y[index]], linestyle='-.',
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color='black', linewidth=1)
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mount_pos.append([pos_x[index] - head * head_interval, pos_y[index]])
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plt.plot(mount_pos[-1][0], mount_pos[-1][1], marker='^', color='red', markerfacecolor='white')
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# 绘制贴装路径
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for i in range(len(mount_pos) - 1):
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plt.plot([mount_pos[i][0], mount_pos[i + 1][0]], [mount_pos[i][1], mount_pos[i + 1][1]], color='blue',
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linewidth=1)
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draw_x, draw_y = [], []
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for c in range(cycle, len(placement_result)):
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for h in range(max_head_index):
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i = placement_result[c][h]
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if i == -1:
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continue
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draw_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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draw_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(draw_x[-1], draw_y[-1] - 5, '%d' % i, ha='center', va='bottom', size=10)
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plt.scatter(pos_x, pos_y, s=8)
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# 绘制供料器位置布局
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for slot in range(max_slot_index // 2):
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plt.scatter(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1], marker='x', s=12, color='green')
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plt.text(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1] - 50, slot + 1, ha='center', va='bottom', size=8)
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feeder_part, feeder_counter = {}, {}
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placement_cycle = 0
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for cycle_, components in enumerate(component_result):
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for head, component in enumerate(components):
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if component == -1:
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continue
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placement = placement_result[placement_cycle][head]
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slot = feeder_slot_result[cycle_][head]
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feeder_part[slot] = pcb_data.loc[placement]['part']
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if slot not in feeder_counter.keys():
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feeder_counter[slot] = 0
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feeder_counter[slot] += cycle_result[cycle_]
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placement_cycle += cycle_result[cycle_]
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for slot, part in feeder_part.items():
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plt.text(slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1] + 15,
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part + ': ' + str(feeder_counter[slot]), ha='center', size=7, rotation=90)
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plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] + 10, slotf1_pos[1] + 10], color='black')
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plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] - 40, slotf1_pos[1] - 40], color='black')
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for counter in range(max_slot_index // 2 + 1):
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pos = slotf1_pos[0] + (counter - 0.5) * slot_interval
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plt.plot([pos, pos], [slotf1_pos[1] + 10, slotf1_pos[1] - 40], color='black', linewidth=1)
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# 绘制拾取路径
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pick_slot = []
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cycle_group = 0
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while sum(cycle_result[0: cycle_group + 1]) < cycle:
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cycle_group += 1
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for head, slot in enumerate(feeder_slot_result[cycle_group]):
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if slot == -1:
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continue
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pick_slot.append(slot - head * interval_ratio)
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pick_slot = list(set(pick_slot))
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pick_slot = sorted(pick_slot)
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plt.plot([mount_pos[0][0], slotf1_pos[0] + slot_interval * (pick_slot[0] - 1)], [mount_pos[0][1], slotf1_pos[1]],
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color='blue', linewidth=1)
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plt.plot([mount_pos[-1][0], slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [mount_pos[-1][1], slotf1_pos[1]],
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color='blue', linewidth=1)
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plt.plot([slotf1_pos[0] + slot_interval * (pick_slot[0] - 1), slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)],
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[slotf1_pos[1], slotf1_pos[1]], color='blue', linewidth=1)
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plt.savefig(path + '/cycle_{}'.format(cycle + 1))
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plt.close(cycle)
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pbar.update(100 / len(placement_result))
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def output_optimize_result(file_name, method, component_data, pcb_data, feeder_data, component_result, cycle_result,
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feeder_slot_result, placement_result, head_sequence):
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assert len(component_result) == len(feeder_slot_result)
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if feeder_data is None:
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warning_info = 'file: ' + file_name + ' optimize result is not existed!'
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warnings.warn(warning_info, UserWarning)
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return
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output_data = pcb_data.copy(deep=True)
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# 默认ANC参数
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anc_list = defaultdict(list)
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anc_list['CN065'] = list(range(14, 25, 2))
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anc_list['CN220'] = list(range(15, 26, 2))
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anc_list['CN140'] = list(range(26, 37, 2))
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anc_list['CN400'] = list(range(27, 38, 2))
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# 更新供料器组参数
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for cycle_set in range(len(cycle_result)):
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for head, component in enumerate(component_result[cycle_set]):
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if component == -1:
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continue
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if feeder_data[feeder_data['slot'] == feeder_slot_result[cycle_set][head]].index.empty:
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part = component_data.loc[component]['part']
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feeder_data.loc[len(feeder_data.index)] = [feeder_slot_result[cycle_set][head], part, 0]
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feeder_data.sort_values('slot', inplace=True, ascending=True, ignore_index=True)
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placement_index = []
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assigned_nozzle, assigned_anc_hole = ['' for _ in range(max_head_index)], [-1 for _ in range(max_head_index)]
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for cycle_set in range(len(cycle_result)):
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floor_cycle, ceil_cycle = sum(cycle_result[:cycle_set]), sum(cycle_result[:(cycle_set + 1)])
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for cycle in range(floor_cycle, ceil_cycle):
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cycle_start = True
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cycle_nozzle = ['' for _ in range(max_head_index)]
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head_indexes = [-1 for _ in range(max_head_index)]
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for head in head_sequence[cycle]:
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index_ = placement_result[cycle][head]
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if index_ == -1:
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continue
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head_indexes[head] = index_
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placement_index.append(index_)
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output_data.loc[index_, 'cs'] = 1 if cycle_start else 0
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output_data.loc[index_, 'cy'] = cycle + 1
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output_data.loc[index_, 'hd'] = head + 1
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cycle_start = False
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# 供料器信息
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slot = feeder_slot_result[cycle_set][head]
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fdr = 'F' + str(slot) if slot < max_slot_index // 2 else 'R' + str(slot - max_slot_index // 2)
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feeder_index = feeder_data[feeder_data['slot'] == slot].index.tolist()[0]
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output_data.loc[index_, 'fdr'] = fdr + ' ' + feeder_data.loc[feeder_index, 'part']
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# ANC信息
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cycle_nozzle[head] = component_data.loc[component_result[cycle_set][head], 'nz']
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for head in range(max_head_index):
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nozzle = cycle_nozzle[head]
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if nozzle == '':
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continue
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if nozzle != assigned_nozzle[head]:
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# 已分配有吸嘴，卸载原吸嘴
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if assigned_nozzle[head] != '':
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anc_list[assigned_nozzle[head]].append(assigned_anc_hole[head])
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anc_list[assigned_nozzle[head]] = sorted(anc_list[assigned_nozzle[head]])
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# 安装新的吸嘴
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assigned_nozzle[head] = nozzle
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try:
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assigned_anc_hole[head] = anc_list[nozzle][0]
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except IndexError:
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info = 'the number of nozzle for [' + nozzle + '] exceeds the quantity limit'
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raise IndexError(info)
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anc_list[nozzle].pop(0)
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output_data.loc[head_indexes[head], 'nz'] = '1-' + str(assigned_anc_hole[head]) + ' ' + nozzle
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output_data = output_data.reindex(placement_index)
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output_data = output_data.reset_index(drop=True)
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if 'desc' not in output_data.columns:
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column_index = int(np.where(output_data.columns.values.reshape(-1) == 'part')[0][0])
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output_data.insert(loc=column_index + 1, column='desc', value='')
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if not os.path.exists('result/' + method):
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os.makedirs('result/' + method)
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file_name = method + '/' + file_name.split('.')[0] + '.xlsx'
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output_data.to_excel('result/' + file_name, sheet_name='tb1', float_format='%.3f', na_rep='')
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def component_assign_evaluate(component_data, component_result, cycle_result, feeder_slot_result) -> float:
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nozzle_change_counter = 0
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for head in range(max_head_index):
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nozzle = ''
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for cycle in range(len(component_result)):
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component_index = component_result[cycle][head]
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if component_index == -1:
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continue
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if cycle != 0 and nozzle != component_data.loc[component_index, 'nz']:
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nozzle_change_counter += 1
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nozzle = component_data.loc[component_index, 'nz']
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gang_pick_counter = 0
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for cycle, feeder_slot in enumerate(feeder_slot_result):
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pick_slot = defaultdict(int)
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for head, slot in enumerate(feeder_slot):
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if slot == -1:
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continue
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pick_slot[slot - head * interval_ratio] += 1
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for _ in pick_slot.values():
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gang_pick_counter += cycle_result[cycle]
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return sum(cycle_result) + e_nz_change * nozzle_change_counter + e_gang_pick * gang_pick_counter
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def optimization_assign_result(component_data, pcb_data, component_result, cycle_result, feeder_slot_result,
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nozzle_hinter=False, component_hinter=False, feeder_hinter=False):
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if nozzle_hinter:
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columns = ['H{}'.format(i + 1) for i in range(max_head_index)] + ['cycle']
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nozzle_assign = pd.DataFrame(columns=columns)
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for cycle, components in enumerate(component_result):
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nozzle_assign.loc[cycle, 'cycle'] = cycle_result[cycle]
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for head in range(max_head_index):
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index = component_result[cycle][head]
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if index == -1:
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nozzle_assign.loc[cycle, 'H{}'.format(head + 1)] = ''
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else:
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nozzle = component_data.loc[index]['nz']
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nozzle_assign.loc[cycle, 'H{}'.format(head + 1)] = nozzle
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print(nozzle_assign)
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print('')
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if component_hinter:
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columns = ['H{}'.format(i + 1) for i in range(max_head_index)] + ['cycle']
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component_assign = pd.DataFrame(columns=columns)
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for cycle, components in enumerate(component_result):
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component_assign.loc[cycle, 'cycle'] = cycle_result[cycle]
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for head in range(max_head_index):
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index = component_result[cycle][head]
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if index == -1:
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component_assign.loc[cycle, 'H{}'.format(head + 1)] = ''
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else:
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part = component_data.loc[index]['part']
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component_assign.loc[cycle, 'H{}'.format(head + 1)] = part
|
||
|
||
print(component_assign)
|
||
print('')
|
||
|
||
if feeder_hinter:
|
||
columns = ['H{}'.format(i + 1) for i in range(max_head_index)] + ['cycle']
|
||
|
||
feedr_assign = pd.DataFrame(columns=columns)
|
||
for cycle, components in enumerate(feeder_slot_result):
|
||
feedr_assign.loc[cycle, 'cycle'] = cycle_result[cycle]
|
||
for head in range(max_head_index):
|
||
slot = feeder_slot_result[cycle][head]
|
||
if slot == -1:
|
||
feedr_assign.loc[cycle, 'H{}'.format(head + 1)] = 'A'
|
||
else:
|
||
feedr_assign.loc[cycle, 'H{}'.format(head + 1)] = 'F{}'.format(
|
||
slot) if slot <= max_slot_index // 2 else 'R{}'.format(slot - max_head_index)
|
||
|
||
print(feedr_assign)
|
||
print('')
|
||
|
||
|
||
def placement_time_estimate(component_data, pcb_data, component_result, cycle_result, feeder_slot_result,
|
||
placement_result, head_sequence, hinter=True) -> float:
|
||
# === 校验 ===
|
||
total_points = 0
|
||
for cycle, components in enumerate(component_result):
|
||
for head, component in enumerate(components):
|
||
if component == -1:
|
||
continue
|
||
total_points += cycle_result[cycle]
|
||
|
||
if total_points != len(pcb_data):
|
||
warning_info = 'the number of placement points is not match with the PCB data. '
|
||
warnings.warn(warning_info, UserWarning)
|
||
return 0.
|
||
|
||
for placements in placement_result:
|
||
for placement in placements:
|
||
if placement == -1:
|
||
continue
|
||
total_points -= 1
|
||
|
||
if total_points != 0:
|
||
warnings.warn(
|
||
'the optimization result of component assignment result and placement result are not consistent. ',
|
||
UserWarning)
|
||
return 0.
|
||
|
||
feeder_arrangement = defaultdict(set)
|
||
for cycle, feeder_slots in enumerate(feeder_slot_result):
|
||
for head, slot in enumerate(feeder_slots):
|
||
if slot == -1:
|
||
continue
|
||
feeder_arrangement[component_result[cycle][head]].add(slot)
|
||
|
||
for part, data in component_data.iterrows():
|
||
if part in feeder_arrangement.keys() and data['feeder-limit'] < len(feeder_arrangement[part]):
|
||
info = 'the number of arranged feeder of [' + data['part'] + '] exceeds the quantity limit'
|
||
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
|
||
|
||
# 初始化首个周期的吸嘴装配信息
|
||
nozzle_assigned = ['Empty' for _ in range(max_head_index)]
|
||
for head in range(max_head_index):
|
||
for cycle in range(len(component_result)):
|
||
idx = component_result[cycle][head]
|
||
if idx == -1:
|
||
continue
|
||
else:
|
||
nozzle_assigned[head] = component_data.loc[idx]['nz']
|
||
break
|
||
|
||
for cycle_set, _ in enumerate(component_result):
|
||
floor_cycle, ceil_cycle = sum(cycle_result[:cycle_set]), sum(cycle_result[:(cycle_set + 1)])
|
||
for cycle in range(floor_cycle, ceil_cycle):
|
||
pick_slot, mount_pos, mount_angle = [], [], []
|
||
nozzle_pick_counter, nozzle_put_counter = 0, 0 # 吸嘴更换次数统计（拾取/放置分别算一次）
|
||
for head in range(max_head_index):
|
||
if feeder_slot_result[cycle_set][head] != -1:
|
||
pick_slot.append(feeder_slot_result[cycle_set][head] - interval_ratio * head)
|
||
if component_result[cycle_set][head] == -1:
|
||
continue
|
||
nozzle = component_data.loc[component_result[cycle_set][head]]['nz']
|
||
if nozzle != nozzle_assigned[head]:
|
||
if nozzle_assigned[head] != 'Empty':
|
||
nozzle_put_counter += 1
|
||
nozzle_pick_counter += 1
|
||
nozzle_assigned[head] = nozzle
|
||
|
||
# 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))
|
||
total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1]))
|
||
cur_pos = next_pos
|
||
|
||
pick_slot = list(set(pick_slot))
|
||
pick_slot = sorted(pick_slot, reverse=True)
|
||
|
||
# 拾取路径(自右向左)
|
||
for slot in 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))
|
||
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]))
|
||
cur_pos = next_pos
|
||
|
||
# 固定相机检测
|
||
for head in range(max_head_index):
|
||
if component_result[cycle_set][head] == -1:
|
||
continue
|
||
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))
|
||
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
|
||
|
||
# 贴装路径
|
||
for head in head_sequence[cycle]:
|
||
index = placement_result[cycle][head]
|
||
if index == -1:
|
||
continue
|
||
mount_pos.append([pcb_data.loc[index]['x'] - head * head_interval + stopper_pos[0],
|
||
pcb_data.loc[index]['y'] + stopper_pos[1]])
|
||
mount_angle.append(pcb_data.loc[index]['r'])
|
||
|
||
# 单独计算贴装路径
|
||
for cntPoints in range(len(mount_pos) - 1):
|
||
total_mount_distance += max(abs(mount_pos[cntPoints][0] - mount_pos[cntPoints + 1][0]),
|
||
abs(mount_pos[cntPoints][1] - mount_pos[cntPoints + 1][1]))
|
||
|
||
# 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:
|
||
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))
|
||
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
|
||
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)
|
||
|
||
print('-Cycle counter: {}'.format(sum(cycle_result)))
|
||
print('-Nozzle change counter: {}'.format(total_nozzle_change_counter // 2))
|
||
print('-Pick operation counter: {}'.format(total_pick_counter))
|
||
|
||
print('-Expected mounting tour length: {} mm'.format(total_mount_distance))
|
||
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 operation time: {} s'.format(total_operation_time))
|
||
|
||
if minutes > 0:
|
||
print('-Mounting time estimation: {:d} min {} s {:2d} ms ({:.3f}s)'.format(minutes, seconds, millisecond,
|
||
total_time))
|
||
else:
|
||
print('-Mounting time estimation: {} s {:2d} ms ({:.3f}s)'.format(seconds, millisecond, total_time))
|
||
|
||
return total_time
|
||
|
||
|
||
|
||
|