Automatic sorting control and decision making system based on M-HSTPN model

Abstract

The invention discloses an automatic sorting control and decision making system based on an M-HSTPN model, and the system employs a three-layer architecture of decision-making layer-event layer-physical layer, and the system comprises a path planning decision making subsystem based on Python, an automatic sorting processing event subsystem based on HSTPNSim, and a physical simulation environment subsystem based on V-REP. The system can achieve the modeling simulation of the five types of mixed attributes in an automatic sorting process: discrete event, continuous process, time delay characteristics, random phenomenon and decision making. The system proposes a design method and design criteria for the M-HSTPN model, and achieves the modeling construction. Through the design of the HSTPNSimsoftware and an interface for Python and V-REP software, the system can process a more complex decision making problem and a more precise physical modeling problem through the powerful scientific computing and environment modeling capabilities.

Description

technical field [0001] The invention relates to the technical field of modeling of control and decision-making systems, in particular to an automatic sorting control and decision-making system based on an M-HSTPN model. Background technique [0002] Automatic sorting system pick-up, obstacle generation, path planning decision-making, AGV movement and unloading port judgment, and waiting for pick-up, etc., include five types of hybrid characteristics: discrete events, continuous processes, delay characteristics, random phenomena, and decision-making problems. Therefore, The automatic sorting system cannot be treated only as a discrete event dynamic system, but it needs to be regarded as a kind of hybrid system, and the corresponding hybrid system modeling method is used to model each link in the system. The traditional high-level Petri net and hybrid Petri net models can only describe part of the hybrid characteristics in the automatic sorting system. Traditional automatic s...

AI Technical Summary

Problems solved by technology

Traditional automatic sorting system modeling platforms, such as Arena, Flexsim, Witness and other object-oriented graphical modeling and simulation software, focus on the construction of the sorting system environment, and cannot effectively model each link in the automatic sorting system , analyze, optimize and control

However, Petri net modeling software, such as CPN tools, can realize the modeling of some links in the automatic sorting system, but cannot deal with complex path planning decision-making problems and accurate physical modeling problems

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